Modeling Self-Organized Aggregation in Swarm Robotic Systems

Bayindir L., Sahin E.

IEEE Swarm Intelligence Symposium, Tennessee, Amerika Birleşik Devletleri, 30 Mart - 02 Nisan 2009, ss.88-89 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/sis.2009.4937849
  • Basıldığı Şehir: Tennessee
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.88-89
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

In this paper, we propose a model for the self-organized aggregation of a swarm of mobile robots. Specifically, we use a simple probabilistic finite state automata (PFSA) based aggregation behavior and analyze its performance using both a point-mass and a physics-based simulator and compare the results against the predictions of the model. The results show that the probabilistic model predictions match simulation results and PFSA-based aggregation behaviors with fixed probabilities are unable to generate scalable aggregations in low robot densities. Moreover, we show that the use of a leave probability that is inversely proportional to the square of the neighbor count (as an estimate of aggregate size) does not improve the scalability of the behavior.