Abstract

Bio-inspired aggregation is one of the most fundamental behaviours that has been
studied in swarm robotic for more than two decades. Biology revealed that the
environmental characteristics are very important factors in aggregation of social insects and
other animals. In this paper, we study the effects of different environmental factors such as
size and texture of aggregation cues using real robots. In addition, we propose a
mathematical model to predict the behaviour of the aggregation during an experiment.