Title :
Modeling self-organized aggregation in swarm robotic systems
Author :
Bayindir, Levent ; Sahin, Erol
Author_Institution :
Fac. Dev. Program, Middle East Tech. Univ., Ankara
fDate :
March 30 2009-April 2 2009
Abstract :
In this paper, we propose a model for the self-organized aggregation of a swarm of mobile robots. Specifically, we use a simple probabilistic finite state automata (PFSA) based aggregation behavior and analyze its performance using both a point-mass and a physics-based simulator and compare the results against the predictions of the model. The results show that the probabilistic model predictions match simulation results and PFSA-based aggregation behaviors with fixed probabilities are unable to generate scalable aggregations in low robot densities. Moreover, we show that the use of a leave probability that is inversely proportional to the square of the neighbor count (as an estimate of aggregate size) does not improve the scalability of the behavior.
Keywords :
finite state machines; mobile robots; multi-robot systems; probabilistic automata; mobile robot; physics-based simulator; probabilistic finite state automata; self-organized aggregation modeling; swarm robotic system; Aggregates; Analytical models; Automata; Feedback; Infrared sensors; Mobile robots; Performance analysis; Predictive models; Robot sensing systems; Robotics and automation;
Conference_Titel :
Swarm Intelligence Symposium, 2009. SIS '09. IEEE
Conference_Location :
Nashville, TN
Print_ISBN :
978-1-4244-2762-8
DOI :
10.1109/SIS.2009.4937849