Cluster Analysis of Collective Behavior for a Robotic Swarm

  • Kazuhiro Ohkura
  • Toshiyuki Yasuda
  • Chikara Morishita
  • Yoshiyuki Matsumura
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 194)


Swarm robotics is a new research field of multi-robot systems which generally consists of many homogeneous autonomous robots without a global controller. Since a robotic swarm is controlled by an emergent way of many interactions with the other robots or an environment, such as a result of self-organization, robot learning or artificial evolution, no method has been known to grasp the macroscopic collective behavior in a practical sense, according to the best of our knowledge. In this paper, based on this situation, a novel method for analyzing the macroscopic collective behavior inspired by a technique in the field of complex network is proposed. The effectiveness of the proposed method is demonstrated on a robotic swarm behavior for the cooperative transport problem by extracting the community structure based on the modularity optimization.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Kazuhiro Ohkura
    • 1
  • Toshiyuki Yasuda
    • 1
  • Chikara Morishita
    • 1
  • Yoshiyuki Matsumura
    • 2
  1. 1.Hiroshima UniversityHigashiJapan
  2. 2.Shinshu UniversityUedaJapan

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