Collective Cooperation Inspired by Stigmergy Strategy

In many social insect societies, the repeated action of the insects interacts over time with the changing physical environment to produce a collective intelligence and accomplish task cooperatively. The major mediating factor in this phenomenon is stigmergy, the individual´s behavior is induced by sensing the local environmental changes produced by previous behaviors. Inspired by this biological phenomenon, the multi-robot system for collective clustering task consists of homogenous robots with only local sensing ability and four simple reactive behaviors. There don´t need any centralized control, global planning, or explicit communication between the interacting robots. The robot´s behavior is only induced by sensing the local environmental changes. The simulations show that robots can group a class of objects within a continuous area. Additionally, different conditions are considered and discussed comparing their performance and efficiency