This article analyses a flocking algorithm that was developed specifically for small and simple swarm robots. It is similar to traditional flocking algorithms for swarm robots, however it does not need communication nor global information. Its only requirements are at least 4 circumferential distance sensors which can have very limited range. This is possible because our algorithm generates eme...

In this paper we describe a low-end and easy to implement flocking algorithm which was developed for very simple swarm robots and which works without communication, memory or global information. By adapting traditional flocking algorithms and eliminating the need for communication, we created an algorithm with emergent flocking properties. We analyse its potential of aggregating an initially sc...

Swarm intelligence theory is proposed for motion planning of multi-robot systems. Multiple particles start from different points in the solutions space and interact to each other while moving towards the goal position. Swarm intelligence theory is a derivative-free approach to the problem of multi-robotcooperation which works by searching iteratively in regions defined by each robot’s best prev...

Swarm robotics simply put is the study of robotic systems taking advantage of swarming or colony level behaviours similar to those found in social insects like Ants or Bees. The sum of the parts is greater than the whole. Heavy constraints are made on the mechanical and computational quality of an individual robot, to both reduce unit complexity and cost whilst maximising population size. Insec...

Inspired by the swarm behaviours of social insects, research into the self-assembly of swarm robots has become an attractive issue in the robotic community. Unfortunately, there are very few platforms for self-assembly and locomotion in the field of swarm robotics. The Sambot is a novel self-assembling modular robot that shares characteristics with swarm robots and self-reconfigurable robots. E...

Swarm robotics is a relatively new paradigm for the coordination of multiple robots solely based on local interactions using simple individual robotic nodes. Originally inspired by the intriguing capabilities of natural swarms such as termites, wasps, and ants which are capable of complex tasks such as nest building, brood sorting, or routing for optimal foraging, swarm robotics has the potenti...

In order to improve the efficiency and smoothness of a robot and reduce its vibration, an algorithm called the augmented Lagrange constrained particle swarm optimization (ALCPSO), which combines constrained particle swarm optimization with the augmented Lagrange multiplier method to realize time-jerk (defined as the derivative of the acceleration) optimal trajectory planning is proposed. Kinema...

Characteristically, social insects are extremely reliant on their use of pheromones to maintain their social activities as a colony unit. This paper describes an on-going project to investigate the possibility of using pheromone communication in a robot swarm. The particular example of pheromone communication considered here was inspired by the queen bee pheromone. This pheromone is only emitte...