Implementation of a Cue-Based Aggregation with a Swarm Robotic System

  • Farshad Arvin
  • Shyamala C. Doraisamy
  • Khairulmizam Samsudin
  • Faisul Arif Ahmad
  • Abdul Rahman Ramli
Part of the Communications in Computer and Information Science book series (CCIS, volume 295)


This paper presents an aggregation behavior using a robot swarm. Swarm robotics takes inspiration from behaviors of social insects. BEECLUST is an aggregation control that is inspired from thermotactic behavior of young honeybees in producing clusters. In this study, aggregation method is implemented with a modification on original BEECLUST. Both aggregations are performed using real and simulated robots. We aim to demonstrate that, a simple change in control of individual robots results in significant changes in collective behavior of the swarm. In addition, the behavior of the swarm is modeled by a macroscopic modeling based on a probability control. The presented model in this study could depict the behavior of swarm throughout the performed scenarios with real and simulated robots.


Swarm Robotics Aggregation Collective Behavior Modeling 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Farshad Arvin
    • 1
  • Shyamala C. Doraisamy
    • 2
  • Khairulmizam Samsudin
    • 1
  • Faisul Arif Ahmad
    • 1
  • Abdul Rahman Ramli
    • 3
  1. 1.Computer Systems Research Group, Faculty of EngineeringUniversity Putra Malaysia, UPMSerdangMalaysia
  2. 2.Department of Multimedia, Faculty of Computer Science & Information TechnologyUniversity Putra Malaysia, UPMSerdangMalaysia
  3. 3.Intelligent Systems & Robotic Lab., Institute of Advanced TechnologyUniversity Putra Malaysia, UPMSerdangMalaysia

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