Fuzzy-Based Aggregation with a Mobile Robot Swarm

  • Farshad Arvin
  • Ali Emre Turgut
  • Shigang Yue
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7461)


Aggregation is a widely observed phenomenon in social insects and animals such as cockroaches, honeybees and birds. From swarm robotics perspective [3], aggregation can be defined as gathering randomly distributed robots to form an aggregate. Honeybee aggregation is an example of cue-based aggregation method that was studied in [4]. In that study, micro robots were deployed in a gradually lighted environment to mimic the behavior of honeybees which aggregate around a zone that has the optimal temperature (BEECLUST). In our previous study [2], two modifications on BEECLUST – dynamic velocity and comparative waiting time – were applied to increase the performance of aggregation.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Farshad Arvin
    • 1
  • Ali Emre Turgut
    • 2
  • Shigang Yue
    • 1
  1. 1.School of Computer ScienceUniversity of LincolnUK
  2. 2.IRIDIAUniversité Libre de BruxellesBelgium

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