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Dynamic interactive self organizing aggregation method in swarm robots.

Oğuz Misir1, Levent Gökrem1

  • 1Tokat Gaziosmanpaşa University, Faculty of Engineering and Architecture, Department of Mechatronics Engineering, Tokat, Turkey.

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|June 19, 2021
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Summary

A new dynamic interactive self-organizing aggregation (DISA) method improves swarm robot performance. DISA achieved 88% better results in key metrics like cluster size and aggregation time compared to existing methods.

Keywords:
Aggregation behaviorMulti robotics systemsSelf-organizedSwarm robotics

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Swarm Intelligence

Background:

  • Swarm robotics requires efficient aggregation strategies for coordinated tasks.
  • Existing methods face challenges in dynamic environments and sensor noise.

Purpose of the Study:

  • To introduce and evaluate a novel Dynamic Interactive Self-Organizing Aggregation (DISA) method for swarm robots.
  • To assess DISA's performance against established aggregation techniques.

Main Methods:

  • Simulations using varying numbers of robots (10-50), detection radii (3-4), and arena sizes (40x40 to 60x60).
  • Performance evaluation based on Total Distance (TD), Cluster Metrics (CM), Expected Cluster Size (ECS), and aggregation completion time.
  • Robustness testing under varying levels of sensor noise.

Main Results:

  • The DISA method demonstrated superior performance across all tested metrics.
  • Achieved an 88% improvement in Expected Cluster Size (ECS) and Cluster Metrics (CM).
  • Showcased enhanced efficiency in Total Distance (TD) and aggregation completion time.

Conclusions:

  • The proposed DISA method offers a significant advancement in swarm robot aggregation.
  • DISA exhibits robust performance, even with sensor noise, outperforming existing approaches.