Cooperative hole avoidance in a swarm-bot

In this paper, we study coordinated motion in a swarm robotic system, called a swarm-bot. A swarm-bot is a self-assembling and self-organising artifact, composed of a swarm of s-bots, mobile robots with the ability to connect to and disconnect from each other. The swarm-bot concept is particularly suited for tasks that require all-terrain navigation abilities, such as space exploration or rescue in collapsed buildings. As a first step toward the development of more complex control strategies, we investigate the case in which a swarm-bot has to explore an arena while avoiding falling into holes. In such a scenario, individual s-bots have sensory

• Type: Journal
• Year: 2006
• Where: RAS
• Authors: Vito Trianni, Stefano Nolfi, Marco Dorigo
• Keywords: All-terrain Navigation Abilities, Complex Control Strategies, RAS 2006, Self-organising Artifact