Cue-based aggregation with a mobile robot swarm: a novel fuzzy-based method

Arvin, Farshad, Turgut, Ali Emre, Bazyari, Farhad , Arikan, Kutluk Bilge, Bellotto, Nicola and Yue, Shigang (2014) Cue-based aggregation with a mobile robot swarm: a novel fuzzy-based method. Adaptive Behavior, 22 (3). pp. 189-206. ISSN 1059-7123

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Aggregation in swarm robotics is referred to as the gathering of spatially distributed robots into a single aggregate. Aggregation can be classified as cue-based or self-organized. In cue-based aggregation, there is a cue in the environment that points to the aggregation area, whereas in self-organized aggregation no cue is present. In this paper, we proposed a novel fuzzy-based method for cue-based aggregation based on the state-of-the-art BEECLUST algorithm. In particular, we proposed three different methods: naïve, that uses a deterministic decision-making mechanism; vector-averaging, using a vectorial summation of all perceived inputs; and fuzzy, that uses a fuzzy logic controller. We used different experiment settings: one-source and two-source environments with static and dynamic conditions to compare all the methods. We observed that the fuzzy method outperformed all the other methods and it is the most robust method against noise.

Keywords:Swarm Robotics, self-organization, collective behaviour, Aggregation, fuzzy logic, JCNotOpen
Subjects:H Engineering > H671 Robotics
G Mathematical and Computer Sciences > G400 Computer Science
G Mathematical and Computer Sciences > G790 Artificial Intelligence not elsewhere classified
Divisions:College of Science > School of Computer Science
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ID Code:13932
Deposited On:14 May 2014 08:16

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