Robustness of two interacting robot swarms using the BEECLUST algorithm

Michael Bodi, Ronald Thenius, Thomas Schmickl, Karl Crailsheim
in Proc. of MATHMOD 2009 - 6th Vienna International Conference on Mathematical Modelling (2009)


In this work we investigated how robust a robot swarm acts against disturbances caused by another robot swarm, both using the BEECLUST algorithm. We show that small swarm popu­lations can gain benefit from the presence of other robot swarms. Medium populated swarms are affected neither positively nor negatively. Large swarm populations act robust against disturbances caused by other robot swarms as long as no jamming effects occur. For our investigation we simu­lated an environment with an ambient illuminance, a light spot and a shadow spot. In such an en­vironment we tested two different castes of Jasmine III robots whereas each caste had to perform a different task. One swarm aggregates at places of high illuminance (light spot), the other one at places of low illuminance (shadow spot). In this article we show that the robustness of the BEE­CLUST algorithm allows us to control a heterogeneous robot swarm in environments which de­mand differing controller strategies.

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