Swarm algorithm implementation in mobile robots for security and surveillance

This paper presents the design and construction of a system consisted of five mobile robots (mobots) and a communications system that will serve as a security surveillance system. This is implemented using a microcontroller as the core that enables the mobots to work cooperatively. The mobots are free to move within their designated areas and are capable of relaying messages via ZigBee communication to a base controller system. The purpose of this system is to have an alternative or even a complement to regular CCTV surveillance, especially in buildings with several rooms. This would enhance the security as the system utilizes a database to store the information gathered from intruder alerts. Furthermore, the communication radios used transmit with low power over a long range. The mobots are enabled to relay data via mobot-to-PC and mobot-to-mobot paths up to five hops. The data transmitted allows the base controller system to identify its source for intrusion detection.