phi Clust: Pheromone-based Aggregation for Robotic Swarms

Arvin F., TURGUT A. E. , Krajnik T., Rahimi S., Okay I. E. , Yue S., ...Daha Fazla

25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, İspanya, 1 - 05 Ekim 2018, ss.4288-4294 identifier

  • Basıldığı Şehir: Madrid
  • Basıldığı Ülke: İspanya
  • Sayfa Sayıları: ss.4288-4294


In this paper, we proposed a pheromone-based aggregation method based on the state-of-the-art BEECLUST algorithm. We investigated the impact of pheromone-based communication on the efficiency of robotic swarms to locate and aggregate at areas with a given cue. In particular, we evaluated the impact of the pheromone evaporation and diffusion on the time required for the swarm to aggregate. In a series of simulated and real-world evaluation trials, we demonstrated that augmenting the BEECLUST method with artificial pheromone resulted in faster aggregation times.