Simulation of Swarm Robot Flocking Assisted by Explicit Communication

Bayu Erfianto, Bambang Riyanto Trilaksono

Abstract


Flock-like motion has been intensively studied in swarm robotics. The aim of flocking is to make a formation of mobile robots involved, which is to mimic crowd and movement of animal behavior. In this paper, we simulate a flocking of mobile robots, which is guided by explicit communication via broadcast mechanism in wireless network. As the results, we analyze the effect of explicit communication in flocking behavior. The first is the ratio of broadcasted message to the flocking action. Second is to observe the connectedness of communication topology affected by flocking formation.


Keywords


flocking, swarm robotics; explicit communication

Full Text:

PDF

References


T. Balch, Ronald, and R. C. Arkin, “Communication in reactive multiagent robotic systems,” Autonomous Robots, vol. 1, pp. 27– 52, 1994. CrossRef

J. Penders, “Robot swarming applications,” in Liber Amicorum ter gelegenheid van de 60e verjaardag van Prof.dr. H. Jaap van den Herik, J. Donkers, Ed. Maastricht, Netherlands: Maastricht ICT Competence Center, October 2007, pp. 227–234.

C. Reynolds, “Flocks, herds and schools: A distributed behavioral model,” in ACM SIGGRAPH Computer Graphics, vol. 21, no. 4. ACM, 1987, pp. 25–34.

U.Wilensky. (1998) Netlogo flocking model. [Online]. VIEW ITEM

I. Couzin, J. Krause, R. James, G. Ruxton, and N. Franks, “Collective memory and spatial sorting in animal groups,” Journal of theoretical biology, vol. 218, no. 1, pp. 1–11, 2002. CrossRef

R. Olfati-Saber, “Flocking for multi-agent dynamic systems: Algorithms and theory,” Automatic Control, IEEE Transactions on, vol. 51, no. 3, pp. 401–420, 2006. CrossRef

N. Bouraqadi, A. Doniec et al., “Flocking-based multi-robot exploration,” Control Architectures of Robots, 2009.

A. Turgut, H. Celikkanat, F. Gokce, and E. Sahin, “Self-organized flocking in mobile robot swarms,” Swarm Intelligence, vol. 2, no. 2, pp. 97–120, 2008. CrossRef

H. Celikkanat, A. Turgut, and E. Sahin, “Guiding a robot flock via informed robots,” in Distributed Autonomous Robotic Systems (DARS 2008), Berlin, Germany, 2008, pp. 215–225. CrossRef

Chibaya, Colin and Bangay, Shaun, “Flock Inspired Area Coverage Using Wireless Boid-Like Sensor Agents” in Proceedings of the Tenth International Conference on Computer Modeling and Simulation, Washington, DC, USA, 2008, pp. 144—149.

C. Moeslinger, T. Schmickl, and K. Crailsheim, “A minimalist flockingalgorithm for swarm robots,” Advances in Artificial Life. Darwin Meets von Neumann, pp. 375–382, 2011. CrossRef

S. Momen, B. Amavasai, and N. Siddique, “Mixed species flocking for heterogeneous robotic swarms,” in EUROCON, 2007. The International Conference on” Computer as a Tool”. IEEE, 2007, pp. 2329–2336.

J. Nembrini, A. F. T. Winfield, and C. Melhuish, “Minimalist coherent swarming of wireless networked autonomous mobile robots.” In Proceedings of the 7th international conference on the simulation of adaptive behavior conference, vol. 7, 2002, pp. 273–382.

G. Dudek and M. Jenkin, “Computational Principles of Mobile Robotics,” Cambridge University Press, 2010. CrossRef

F. Chung, “Spectral graph theory,” Amer Mathematical Society, 1997, vol. 1992.

Bayu Erfianto and Bambang Riyanto T. Swarm Robot Flocking Assisted by Explicit Communication. International Conference on Intelligent Unmanned System – ICIUS 2012, Singapore.




DOI: http://dx.doi.org/10.21535%2Fjust.v1i2.28

Refbacks

  • There are currently no refbacks.




Creative Commons License
This work is licensed under a Creative Commons Attribution 3.0 License.