Flocking in Stationary and Non-stationary Environments: A Novel Communication Strategy for Heading Alignment

Ferrante E., TURGUT A. E., Mathews N., Birattari M., Dorigo M.

11th International Conference on Parallel Problem Solving from Nature, Krakow, Poland, 11 - 15 September 2010, vol.6239, pp.331-340 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 6239
  • Doi Number: 10.1007/978-3-642-15871-1_34
  • City: Krakow
  • Country: Poland
  • Page Numbers: pp.331-340
  • Middle East Technical University Affiliated: Yes


We propose a novel communication strategy inspired by explicit signaling mechanisms seen in vertebrates, in order to improve performance of self-organized flocking for a swarm of mobile robots. The communication strategy is used to make the robots match each other's headings. The task of the robots is to coordinately move towards a common goal direction, which might stay fixed or change over time.