Swarm Robots with Queue Organization Using Infrared Communication

  • Rafael Mathias de Mendonça
  • Nadia Nedjah
  • Luiza de Macedo Mourelle
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7333)


This paper describes the implementation of a swarm of E-Puck robots with autonomous behavior of queue via a communication process that uses the infrared sensors of the robots. Each robot has the ability to identify other robots in seeking a collective formation of queue. Everyone can identify and avoid obstacles in the environment while maintaining the collective queue organization. A digital filter was implemented to inhibit the effects of external light interference during the measurements done by the infrared sensors. The project was implemented in the Webots prototyping software, while thoroughly and physically tested on a swarm of E-Puck robots. The tests proved the efficiency of the implementation to yield the expected behavior. We included in this paper the observed behaviors during the testing process with the robots.


Infrared communication swarm intelligence queue formation IR sensors E-Puck Webots 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Rafael Mathias de Mendonça
    • 1
  • Nadia Nedjah
    • 1
  • Luiza de Macedo Mourelle
    • 2
  1. 1.Department of Electronics Engineering and Telecommunications, Faculty of EngineeringState University of Rio de JaneiroBrazil
  2. 2.Department of Systems Engineering and Computation, Faculty of EngineeringState University of Rio de JaneiroBrazil

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