Φ Clust: Pheromone-Based Aggregation for Robotic Swarms

Arvin, Farshad; Turgut, Ali Emre; Krajnik, Tomas; Rahimi, Salar; Okay, Ilkin Ege; Yue, Shigang; Watson, Simon; Lennox, Barry

Abstract

In this paper, we proposed a pheromone-based aggregation method based on the state-of-the-art BEECLUST algorithm. We investigated the impact of pheromone-based communication on the efficiency of robotic swarms to locate and aggregate at areas with a given cue. In particular, we evaluated the impact of the pheromone evaporation and diffusion on the time required for the swarm to aggregate. In a series of simulated and real-world evaluation trials, we demonstrated that augmenting the BEECLUST method with artificial pheromone resulted in faster aggregation times.

Citation

Arvin, F., Turgut, A. E., Krajnik, T., Rahimi, S., Okay, I. E., Yue, S., Watson, S., & Lennox, B. (2018, October). Φ Clust: Pheromone-Based Aggregation for Robotic Swarms. Presented at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• Start Date: Oct 1, 2018
• End Date: Oct 5, 2018
• Online Publication Date: Jan 6, 2019
• Publication Date: 2018
• Deposit Date: May 27, 2022
• Publisher: Institute of Electrical and Electronics Engineers
• Pages: 4288-4294
• Series ISSN: 2153-0866
• ISBN: 978-1-5386-8095-7
• DOI: https://doi.org/10.1109/iros.2018.8593961
• Public URL: https://durham-repository.worktribe.com/output/1136886