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A Virtual Viscoelastic Based Aggregation Model for Self-organization of Swarm Robots System

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Towards Autonomous Robotic Systems (TAROS 2016)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9716))

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Abstract

We report a bio-inspired control model to dynamically self-organize a swarm robots system into unplanned patterns emerged through an aggregation method based upon using virtual viscoelastic links among the K-nearby robots. By varying this neighbourhood relationship, virtual viscoelastic links are dynamically created and destroyed between the robots and their sensed neighbours. Based on the equilibrium between these virtual links, the model can distribute the robots at equal angular configurations of the emergent shape being formed. A forward dependent angular motion control is designed to control at which speeds the robots are moving. The model is implemented and tested using the ARGoS simulator where many emerged self-organized configurations are formed showing the effectiveness of the model.

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Notes

  1. 1.

    http://www.swarmanoid.org/.

  2. 2.

    http://www.argos-sim.info.

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Authors and Affiliations

  1. LESIA Laboratory, Department of Computer Science, University of Mohamed Khider, B.P. 145, R.P. 07000, Biskra, Algeria

    Belkacem Khaldi & Foudil Cherif

Authors
  1. Belkacem Khaldi
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  2. Foudil Cherif
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Correspondence to Belkacem Khaldi .

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Editors and Affiliations

  1. Sheffield Hallam University, Sheffield, United Kingdom

    Lyuba Alboul

  2. University of Sheffield, Sheffield, United Kingdom

    Dana Damian

  3. University of Sheffield, Sheffield, United Kingdom

    Jonathan M. Aitken

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Khaldi, B., Cherif, F. (2016). A Virtual Viscoelastic Based Aggregation Model for Self-organization of Swarm Robots System. In: Alboul, L., Damian, D., Aitken, J. (eds) Towards Autonomous Robotic Systems. TAROS 2016. Lecture Notes in Computer Science(), vol 9716. Springer, Cham. https://doi.org/10.1007/978-3-319-40379-3_21

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  • DOI: https://doi.org/10.1007/978-3-319-40379-3_21

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-40378-6

  • Online ISBN: 978-3-319-40379-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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