Self-organized flocking with a mobile robot swarm: a novel motion control method

@article{Ferrante2012SelforganizedFW,
  title={Self-organized flocking with a mobile robot swarm: a novel motion control method},
  author={Eliseo Ferrante and Ali Emre Turgut and Cristi{\'a}n Huepe and Alessandro Stranieri and Carlo Pinciroli and Marco Dorigo},
  journal={Adaptive Behaviour},
  year={2012},
  volume={20},
  pages={460-477}
}
In flocking, a swarm of robots moves cohesively in a common direction. Traditionally, flocking is realized using two main control rules: proximal control, which controls the cohesion of the swarm using local range-and-bearing information about neighboring robots; and alignment control, which allows the robots to align in a common direction and uses more elaborate sensing mechanisms to obtain the orientation of neighboring robots. So far, limited attention has been given to motion control, used… CONTINUE READING
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