A New Continuous Model for Segregation Implemented and Analyzed on Swarm Robots

  • Benjamin RehEmail author
  • Felix Aller
  • Katja Mombaur
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9882)


T.C. Schelling’s Dynamic Model of Segregation might be one of the most known agent based models. Macroscopic segregation is caused by microscopic preference for a specific feature in the local neighborhood. Based on Schelling’s original work we derive a spatiotemporal continuous segregation model which is implemented on a swarm of thirty Elisa-3 robots. To define the neighborhood between the entities we use the density-based spatial clustering algorithm DBSCAN. Furthermore we expand the binary decision criterion to a probabilistic approach to produce a more realistic behavior. The evaluation of our extensive experiments with the swarm of robots show that a segregation effect can be reproduced with our model similar to the observations Schelling made in his work.


Segregation Schelling Swarm robotics Elisa-3 


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Optimization in Robotics and Biomechanics, Interdisciplinary Center for Scientific ComputingHeidelberg UniversityHeidelbergGermany

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