Boundary Detection in a Swarm of Kilobots

  • Yingyi KuangEmail author
  • Yuri Kaszubowski Lopes
  • Roderich Groß
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11650)


This paper presents a distributed boundary detection method for a swarm of robots. It employs the cyclic-shape algorithm together with a local coordinate identification, thereby allowing boundary detection without bearing measurements. Each robot can communicate with, and estimate the distance to, its neighbouring robots. The method is validated using swarms of up to 45 Kilobot robots.



This research was supported by the Engineering and Physical Sciences Research Council (grant No. EP/J013714/1).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Yingyi Kuang
    • 1
    • 2
    Email author
  • Yuri Kaszubowski Lopes
    • 1
    • 3
  • Roderich Groß
    • 1
  1. 1.Sheffield RoboticsThe University of SheffieldSheffieldUK
  2. 2.Engineering and Applied Science SchoolAston UniversityBirminghamUK
  3. 3.Department of Software EngineeringFederal University of Technology – Paraná (UTFPR)Dois VizinhosBrazil

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