A Robust Centralized Linear Spatial Search Flock

S.T. Kazadi, E. Kondo, and A. Cheng (USA)


swarm engineering, flocking, distributed search


In this paper, we explore the development of a robust robot chain designed to allow non-pheromone-mediated target localization and transportation to a central location. The method is based on the development of a lossless robot swarm capable of carrying out a search of a local area in such a way that each individual robot is capable of deter mining the direction along the chain that one might follow to the center of search. We investigate some of the stabil ity issues of the swarm, examining the stability during the setup phase, after the setup phase, and during catastrophic losses of individuals in the chain. We also explore potential methods of using the mechanism to deal with obstacles and multi-resource exploitation.

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