Dependency by Concentration of Pheromone Trail for Multiple Robots

  • Ryusuke Fujisawa
  • Shigeto Dobata
  • Daisuke Kubota
  • Hikaru Imamura
  • Fumitoshi Matsuno
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5217)


In this paper, we discuss the concentration dependency of pheromone communication in swarm robotics. Instead of a pheromone trail and the insect antenna, we used ethanol and an alcohol sensor. This experimental system has a trade-off problem; high concentrations of the pheromone yield high signal strength but the signal duration is short, while low pheromone concentrations yield low signal strength but a long signal duration. We examined the optimal pheromone concentration for a swarm of robots. For this purpose, we developed a swarm behaviour algorithm and swarm robots that communicate using a pheromone trail. In addition, we discuss the effects of the pheromone concentration.


Social Insect Pheromone Trail Touch Sensor Multiple Robot Pheromone Concentration 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Ryusuke Fujisawa
    • 1
  • Shigeto Dobata
    • 2
  • Daisuke Kubota
    • 1
  • Hikaru Imamura
    • 1
  • Fumitoshi Matsuno
    • 1
  1. 1.The University of Electro-CommunicationsTokyoJapan
  2. 2.The University of TokyoTokyoJapan

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