A Leader-Follower Collective Motion in Robotic Swarms

Bahaidarah, Mazen; Marjanovic, Ognjen; Rekabi-bana, Fatemeh; Arvin, Farshad

Abstract

Collective Motion (CM) is a basic phenomenon observed in nature, such as in birds, insects, and schooling fish. In swarm robotics, virtual links among the swarm members generate attractive and repulsive forces to attain self-organised CM behaviour. However, their manoeuvre in a cluttered environment can be challenging. Therefore, this study demonstrated the implementation of an Optimised Collective Motion (OCM) model with a Leader-Follower method to steer the swarm towards a desired position and improve its mobility. Two environmental configurations were designed to evaluate the swarm navigation while avoiding obstacles. Numerical simulations on MATLAB showed a significant performance, attaining 99% of the swarm rapidly converge while maintaining the formation cohesiveness.

Citation

Bahaidarah, M., Marjanovic, O., Rekabi-bana, F., & Arvin, F. (2024, August). A Leader-Follower Collective Motion in Robotic Swarms. Presented at TAROS 2024: Towards Autonomous Robotic Systems, London, UK

• Presentation Conference Type: Conference Paper (published)
• Conference Name: TAROS 2024: Towards Autonomous Robotic Systems
• Start Date: Aug 21, 2024
• End Date: Aug 23, 2024
• Acceptance Date: Jun 1, 2024
• Online Publication Date: Dec 30, 2024
• Publication Date: Dec 30, 2024
• Deposit Date: Feb 25, 2025
• Print ISSN: 0302-9743
• Publisher: Springer
• Peer Reviewed: Peer Reviewed
• Volume: 15052 LNAI
• Pages: 281-293
• Series Title: Lecture Notes in Computer Science
• Series ISSN: 0302-9743
• Book Title: Towards Autonomous Robotic Systems: 25th Annual Conference, TAROS 2024, London, UK, August 21–23, 2024, Proceedings, Part II
• DOI: https://doi.org/10.1007/978-3-031-72062-8_25
• Public URL: https://durham-repository.worktribe.com/output/3503421