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S. Nouyan and M. Dorigo. Path Formation in a Robot Swarm. Technical Report TR/IRIDIA/2007-002, IRIDIA, Université Libre de Bruxelles, Brussels, Belgium, February 2007.

Abstract

We present two swarm intelligence control mechanisms used for distributed robot path formation. In our first approach the robots form linear chains. We study three variants of robot chains, which vary in the degree of motion allowed to the chain structure. Our second approach is called forcefield. In this case, the robots form a pattern that globally indicates the direction towards a goal or home location. We test each controller on a task that consists in forming a path between two objects which an individual robot cannot perceive simultaneously. Our simulation experiments show promising results. All the controllers are able to form paths also in complex obstacle environments, and exhibit very good scalability. Additionally, we observe that chains perform better for smaller robot group sizes, while forcefield performs better for larger groups.


Updated: 2017-03-27