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Morphogen diffusion algorithms...

11 May 2016

Hyondong Oh, Ataollah Ramezan Shirazi, Yaochu Jin

Department of Computing, University of Surrey, Guildford, Surrey, GU2 7XH, UK


Morphogen diffusion algorithms for tracking and herding using a swarm of kilobots. Soft Comput (2016). doi:10.1007/s00500-016-2182-2


This paper investigates self-organised collective formation control using swarm robots. In particular, we focus on collective tracking and herding using a large number of very simple robots. To this end, we choose kilobots as our swarm robot test bed due to its low cost and attractive operational scalability. Note, however, that kilobots have extremely limited locomotion, sensing and communication capabilities. To handle these limitations, a number of new control algorithms based on morphogen diffusion and network connectivity preservation have been suggested for collective object tracking and herding. Numerical simulations of large-scale swarm systems as well as preliminary physical experiments with a relatively small number of kilobots have been performed to verify the effectiveness of the proposed algorithms.

Check this publication at the journal site.