TY - GEN
T1 - Self-Organized Flocking with a Heterogeneous Mobile Robot Swarm
AU - Stranieri, A.
AU - Ferrante, E.
AU - Turgut, A. E.
AU - Trianni, V.
AU - Pinciroli, C.
AU - Birattari, M.
AU - Dorigo, M.
N1 - Publisher Copyright:
© 2011 ECAL 2011: The 11th European Conference on Artificial Life. All rights reserved.
PY - 2011
Y1 - 2011
N2 - In this paper, we study self-organized flocking in a swarm of behaviorally heterogeneous mobile robots: aligning and non-aligning robots. Aligning robots are capable of agreeing on a common heading direction with other neighboring aligning robots. Conversely, non-aligning robots lack this capability. Studying this type of heterogeneity in self-organized flocking is important as it can support the design of a swarm with minimal hardware requirements. Through systematic simulations, we show that a heterogeneous group of aligning and non-aligning robots can achieve good performance in flocking behavior. We further show that the performance is affected not only by the proportion of aligning robots, but also by the way they integrate information about their neighbors as well as the motion control employed by the robots.
AB - In this paper, we study self-organized flocking in a swarm of behaviorally heterogeneous mobile robots: aligning and non-aligning robots. Aligning robots are capable of agreeing on a common heading direction with other neighboring aligning robots. Conversely, non-aligning robots lack this capability. Studying this type of heterogeneity in self-organized flocking is important as it can support the design of a swarm with minimal hardware requirements. Through systematic simulations, we show that a heterogeneous group of aligning and non-aligning robots can achieve good performance in flocking behavior. We further show that the performance is affected not only by the proportion of aligning robots, but also by the way they integrate information about their neighbors as well as the motion control employed by the robots.
UR - http://www.scopus.com/inward/record.url?scp=85153067656&partnerID=8YFLogxK
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U2 - 10.7551/978-0-262-29714-1-ch119
DO - 10.7551/978-0-262-29714-1-ch119
M3 - Conference contribution
AN - SCOPUS:85153067656
T3 - ECAL 2011: The 11th European Conference on Artificial Life
BT - ECAL 2011
PB - MIT Press Journals
T2 - 11th European Conference on Artificial Life, ECAL 2011
Y2 - 8 August 2011 through 12 August 2011
ER -