Swarm-Mediated Cluster-Based Construction

Abstract

The use of swarm clustering algorithms is investigated in the design of simple robots capable of carrying out swarm-mediated construction. Methods for generating multiple clusters of predetermined size are developed. Relative cluster motion algorithms are also developed and explored. All robotic algorithms are predicated on the use of robots that utilize no processing, global positioning, or explicit communication. Simple stigmergic communication and minimal sensing capabilities are used exclusively. Swarms of minimal agents are used to build equilateral triangles, squares, and pentagons. Future use of these methods in the design of more sophisticated construction techniques is discussed.