Formation of Control Structures in Static Swarms

Abstract

Work solutions are proposed for problems of leader definition and role distribution in homogeneous groups of robots. It is shown that transition from a swarm to a collective of robots with hierarchical organization is possible using exclusively local interaction. The local revoting algorithm is central to the procedure for choice of leader while redistribution of roles can be achieved by a wave method. The basis for this approach is the static swarm model, which is characterized by the absence of a set control center and represents the network fixed at some time interval as a set of locally interacting agents.