Imitation of Honeybee Aggregation with Collective Behavior of Swarm Robots

Abstract

This paper analyzes the collective behaviors of swarm robots that play role in the aggregation scenario. Honeybee aggregation is an inspired behavior of young honeybees which tend to aggregate around an optimal zone. This aggregation is implemented based on variation of parameters values. In the second phase, two modifications on original honeybee aggregation namely dynamic velocity and comparative waiting time are proposed. Results of the performed experiments showed the significant differences in collective behavior of the swarm system for different algorithms.

Colias: An Autonomous Micro Robot for Swarm Robotic Applications

“…Therefore, the discrimination ability of the aggregation method between two different sources is also demonstrated. The recorded results are dissimilar to the previous research on BEECLUST [7,14,18] due to the differing configuration of the experiments, such as the size of the arena and the robots deployed. In [7], the aggregation with 15 robots was accomplished in 65 sec; however, the experiment's configuration was different to our experiment.…”

“…However, Colias moves at speed of 10 cm/s using a predefined perception range of 3 cm in an arena with an area of about 0.6 m 2 . In comparison to [18] in which an aggregation with five robots was accomplished in 470 sec, AMiR is almost twice as large as Colias, with perception radius of 12 cm. It moves at the same speed in an arena with a size of about 1 m 2 .…”

“…Mostly, gradient light is employed as the cue for the aggregation [14,15,18]. In addition, we previously implemented BEECLUST using a sound source as the cue for the aggregation [19,20].…”

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

“…Whereas, in dynamic experiments, robots are able to aggregate under the highest intensity source. To improve the performance of the cue-based aggregation, two modifications on BEECLUST were proposed in [4]. One is the dynamic velocity in which robots are allowed to select three different speeds based on intensity of light; higher intensity results in slower speed.…”

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.…”