A self-guided approach for navigation in a minimalistic foraging robotic swarm

Abstract We present a biologically inspired design for swarm foraging based on ant’s pheromone deployment, where the is assumed to have very restricted capabilities. The robots do not require global or relative position measurements and fully decentralized needs no infrastructure in place. Additionally, system only requires one-hop communication over robot network, we make any assumptions about connectivity of graph transmission information computation scalable versus number agents. This done by letting agents act as foragers guiding (beacons). experimental results computed Elisa-3 simulator, show how self-organizes solve problem an unknown environment, converging trajectories around shortest path, test approach real robots. At last, discuss limitations such propose efficiency can be increased.