Sorting in Swarm Robots Using Communication-Based Cluster Size Estimation

  • Hongli Ding
  • Heiko Hamann
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8667)


Inspired by sorting behaviors of social insects, we are interested in sorting by robot swarms using only local information and hence achieving high degrees of robustness and scalability. In this work, we propose a gossip-based sorting method which allows two swarms of simple homogeneous autonomous robots to sort themselves in two not pre-assigned areas. Key feature of this method is the estimation of cluster sizes based on communication that allows to determine the local majority. In a series of simulation experiments, we show the effectiveness of the approach and investigate the influence of different swarm sizes.


Social Insect Communication Range Swarm Intelligence White Area Black Area 
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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Hongli Ding
    • 1
  • Heiko Hamann
    • 1
  1. 1.Department of Computer ScienceUniversity of PaderbornPaderbornGermany

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