Cue-based aggregation with a mobile robot swarm: a novel fuzzy-based method

Abstract

Aggregation in swarm robotics is referred to as the gathering of spatially distributed robots into a single aggregate. Aggregation can be classified as cue-based or self-organized. In cue-based aggregation, there is a cue in the environment that points to the aggregation area, whereas in self-organized aggregation no cue is present. In this paper, we proposed a novel fuzzy-based method for cue-based aggregation based on the state-of-the-art BEECLUST algorithm. In particular, we proposed three different methods: naïve, that uses a deterministic decision-making mechanism; vector-averaging, using a vectorial summation of all perceived inputs; and fuzzy, that uses a fuzzy logic controller. We used different experiment settings: one-source and two-source environments with static and dynamic conditions to compare all the methods. We observed that the fuzzy method outperformed all the other methods and it is the most robust method against noise

Colias: An Autonomous Micro Robot for Swarm Robotic Applications

“…It moves at the same speed in an arena with a size of about 1 m 2 . Moreover, the BEECLUST aggregation using other types of cues [19,20] showed various aggregation times compared to the recorded results in this section. Thus, BEECLUST aggregation relies significantly on the experiment's configuration.…”

“…In addition, we previously implemented BEECLUST using a sound source as the cue for the aggregation [19,20].…”

“…It uses IR sensors for distance estimation and short-range communication. Several research applications have been performed with AMiR, including BEECLUST aggregation [17] and the extended version of BEECLUST [18][19][20]. Moreover, AMiR is simulated in Player/Stage and was used as the simulated robot swarm platform in [21].…”

Power-Law Distribution of Long-Term Experimental Data in Swarm Robotics

“…The results showed that the proposed strategies outperform BEECLUST method. Fuzzy-based aggregation method has been introduced in [5]. The results showed that the proposed fuzzy decisioning method improves the performance of BEECLUST especially in the presence of noise.…”

Colias-Φ: An Autonomous Micro Robot for Artificial Pheromone Communication

“…Moreover, utilizing continuous and long-term of the chemical pheromones in the laboratory environment would be harmful. Therefore, artificial media such as RFID [9], audio [10]- [12] and light [5], [13]- [15] could be the safe media to be used as the artificial pheromone and cue. Garnier et al [16] presented an experimental setup for study on pheromone based communication with micro autonomous robots using the projected light.…”