Modeling Self-Organized Aggregation in Swarm Robotic Systems

Bayindir L., Sahin E.

IEEE Swarm Intelligence Symposium, Tennessee, United States Of America, 30 March - 02 April 2009, pp.88-89 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/sis.2009.4937849
  • City: Tennessee
  • Country: United States Of America
  • Page Numbers: pp.88-89


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.