Fuzzy-Based Aggregation with a Mobile Robot Swarm
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Aggregation is a widely observed phenomenon in social insects and animals such as cockroaches, honeybees and birds. From swarm robotics perspective , 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 . 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 , two modifications on BEECLUST – dynamic velocity and comparative waiting time – were applied to increase the performance of aggregation.
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