A Minimalistic Approach to Segregation in Robot Swarms

@article{Mitrano2019AMA,
  title={A Minimalistic Approach to Segregation in Robot Swarms},
  author={P. Mitrano and Jordan Burklund and Michael Giancola and Carlo Pinciroli},
  journal={2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)},
  year={2019},
  pages={105-111}
}
We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in the minimalistic assumptions on which it is based. Specifically, we assume that (i) Each robot is equipped with a ternary sensor capable of detecting the presence of a single nearby robot, and, if that robot is present, whether or not it belongs to the same group as the sensing robot; (ii) The robots move according to a… 

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