A swarm aggregation algorithm for multi-robot systems based on local interaction

Abstract

In this work, a swarm aggregation algorithm for multi-robot systems based on local interaction is proposed. In the considered framework, a swarm of robots is moving within an outdoor environment according to the guidance commands issued by a remote control station. Robots, which are responsible for the execution of the guidance commands, are required to show a cohesive behavior through local interactions. A theoretical validation of the swarm interaction modeling is given. Simulations along with experimental results carried out by exploiting a Kinect <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">®</sup> -based remote control system are provided to corroborate the theoretical results.