A Minimalist Flocking Algorithm for Swarm Robots

Christoph Möslinger, Thomas Schmickl, Karl Crailsheim
Proc. of the 10th European Conference on Artificial Life (ECAL'09), LNCS 5778 (2011), 375–382


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 scattered robot swarm, which is not a trivial task for robots that only have local information.

Flocking Algorithm and Zones

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