Skip to main content
×
Home
    • Aa
    • Aa

Swarm robotics reviewed

  • Jan Carlo Barca (a1) and Y. Ahmet Sekercioglu (a1)
Summary
SUMMARY

We present a review of recent activities in swarm robotic research, and analyse existing literature in the field to determine how to get closer to a practical swarm robotic system for real world applications. We begin with a discussion of the importance of swarm robotics by illustrating the wide applicability of robot swarms in various tasks. Then a brief overview of various robotic devices that can be incorporated into swarm robotic systems is presented. We identify and describe the challenges that should be resolved when designing swarm robotic systems for real world applications. Finally, we provide a summary of a series of issues that should be addressed to overcome these challenges, and propose directions for future swarm robotic research based on our extensive analysis of the reviewed literature.

Copyright
Corresponding author
*Corresponding author. E-mail: Jan_carlobarca@hotmail.com
Linked references
Hide All

This list contains references from the content that can be linked to their source. For a full set of references and notes please see the PDF or HTML where available.

1. E. Sahin , Swarm Robotics: From Sources of Inspiration to Domains of Application, Lecture Notes in Computer Science 3342 (Springer-Verlag, New York, 2005) pp. 1020.

4. Y. Mohan and S. Ponnambalam , “An Extensive Review of Research in Swarm Robotics,” Proceedings of the World Congress on Nature & Biologically Inspired Computing, Coimbatore, India (2009).

8. F. Ducatelle et al., “Mobile Stigmergic Markers for Navigation in a Heterogeneous Robotic Swarm,” In: Proceedings of the 7th International Conference on Swarm Intelligence, Brussels, Belgium, LNCS 6234 (Springer, Berlin, Germany, 2010) pp. 456463.

10. S. Hauert , J. Zufferey and D. Floreano , “Evolved swarming without positioning information: An application in aerial communication relay,” Auton. Robots 26 (1), 2132 (2008).

11. R. Mayet et al., “Antbots: A Feasible Visual Emulation of Pheromone Trails for Swarm Robots,” In: Proceedings of the 7th International Conference on Swarm Intelligence, Brussels, Belgium, LNCS 6234 (Springer, Berlin, Germany, 2010) pp. 8494.

16. M. Joordens and M. Jamshidi , “Consensus control for a system of underwater swarm robots,” IEEE Syst. J. 4 (1), 6573 (2010).

17. K. Mills , “A brief survey of self-organization in wireless sensor networks,” Wirel. Commun. Mob. Comput. 7, 823834 (2007).

19. C. Reynolds , “Flocks, herds and schools: A distributed behavioral model,” Comput. Graph. 21 (4), 2534 (1987).

20. S. Martinez , J. Cortes and F. Bullo , “Motion coordination with distributed information,” IEEE Control Syst. Mag. 27 (4), 7588 (2007).

21. B. Anderson , C. Yu and J. Hendrickx , “Rigid graph control architectures for autonomous formations,” IEEE Control Syst. Mag. 28 (6), 4863 (2008).

22. G. Lafferriere et al., “Decentralized control of vehicle formations,” Syst. Control Lett. 54 (9), 899910 (2005).

24. B. Bassler , “How bacteria talk to each other: Regulation of gene expression by quorum sensing,” Curr. Opin. Microbiol. 2 (6), 582587 (1999).

25. E. Ben-Jacob , “Bacterial self-organization: Co-enhancement of complexification and adaptability in a dynamic environment,” Phil. Trans. R. Soc. Lond. A 361, 12831312 (2003).

27. M. Mamei , M. Vasari and F. Zambonelli , “Experiments of morphogenesis in swarms of simple mobile robots,” Appl. Artif. Intell. 18 (9–10), 903919 (2004).

28. G. Hinchey , R. Sterritt and C. Rouff , “Swarms and swarm intelligence,” Computer 40 (4), 111113 (2007).

29. B. Adams et al., “Humanoid robots: A new kind of tool,” IEEE Intell. Syst. Control lett. 15 (4), 2531 (2000).

33. J. Cortes et al., “Coverage control for mobile sensing networks,” IEEE Trans. Robot. Autom. 20 (2), 243255 (2004).

35. Y. Cao , S. Fukunaga and A. Kahng , “Cooperative mobile robotics: Antecedents and directions,” Auton. Robots 4 (1), 727 (1997).

37. M. Ma and Y. Yang , “Adaptive triangular deployment algorithm for unattended mobile sensor networks,” IEEE Trans. Comput. 56 (7), 946958 (2007).

38. L. Parker , “Designing Control Laws for Cooperative Agent Teams,” Proceedings of the IEEE International Conference on Robotics and Automation, Hidden Valley, Pennsylvania (1993).

39. V. Lumelsky and K. Harinarayan , “Decentralized Motion Planning for Multiple Mobile Robots: The Cocktail Party Model,” Journal of Autonomous Robots. 4 (1), 121135 (1997).

40. Y. Gu et al., “Data harvesting with mobile elements in wireless sensor networks,” Comput. Netw. 50 (17), 34493465 (2006).

42. J. Cortés , S. Martínez and F. Bullo , “Spatially-distributed coverage optimization and control with limited-range interactions,” ESAIM, Control Optim. Calc. Var. 11 (4), 691719 (2005).

43. J. Cortés and F. Bullo , “Coordination and geometric optimization via distributed dynamical systems,” SIAM J. Control Optim. 44 (5), 15431574 (2005).

45. J. Penders et al., “A Robot swarm assisting a human fire-fighter,” Adv. Robot. 25 (1–2), 93117 (2011).

46. J. Colorado , A. Barrientos , C. Rossi and J. del Cerro , “Follow-the-Leader Formation Marching Through a Scalable O(log2n) Parallel Architecture,” Proceedings of the IEEE/RJS 2010 International Conference on Intelligent Robots and Systems, Taiwan (2010).

47. N. Heo and P. Varshney , “Energy-Efficient deployment of intelligent mobile sensor networks,” IEEE Trans. Syst. Man Cybern. 35 (1), 7892 (2005).

50. T. Fong , I. Nourbakhsh and K. Dautenhahn , “A survey of socially interactive robots,” Robot. Auton. Syst. 42 (3–4), pp. 143166 (2003).

52. A. Winfield , C. Harper and J. Nembrini , “Towards the Application of Swarm Intelligence in Safety Critical Systems,” Proceedings of the 1st Institution of Engineering and Technology International Conference on System Safety, London (2006).

54. G. Dudek et al., “A taxonomy for multi-agent robotics,” Auton. Robots 3, 375397 (1996).

56. D. Karaboga and B. Akay , “A survey: Algorithms simulating bee swarm intelligence,” Artifial Intell. Rev. 31, 6185 (2009).

60. A. Christensen , R. O'Grady and M. Dorigo , “Morphology control in a multirobot system,” IEEE Robot. Autom. Mag. 14 (4), 1825 (2007).

63. A. Christensen , R. Grady and M. Dorigo , “A Mechanism to Self-Assemble Patterns with Autonomous Robots,” In: Proceedings of the 9th European conference on Advances in Artificial Life (Springer, Berlin, Germany, 2007) pp. 716725.

64. N. Bowden et al., “Self-Assembly of mesoscale objects into ordered two-dimensional arrays,” Science 276 (5310), 233235 (1997).

65. T. Fukada et al., “Self-Organising Robots Based on Cell Structures,” IEEE Int. Workshop on Intelligent Robotics (IEEE Computer Society Press, Los Alamitos, 1988).

67. E. Tuci et al., “Cooperation through self-assembly in multi-robot systems,” ACM Trans. Auton. Adapt. Syst. 1 (2), 115150 (2006).

68. S. Murata et al., “M-TRAN: Self-reconfigurable modular robotic system,” IEEE/ASME Trans. Mech. 7 (4), 431441 (2002).

72. B. Garro , H. Sossa and R. Vazquez , “Evolving Ant Colony System for Optimizing Path Planning in Mobile Robots,” Proceedings of the Fourth Congress of Electronics, Robotics and Automotive Mechanics, Morelos, Mexico (2007).

74. B. Fidan , C. Yu and B. Anderson , “Acquiring and maintaining persistence of autonomous multi-vehicle formations,” IET Control Theory Appl. 1 (2), 452460 (2007).

75. H. Zhang , V. Kumar and J. Ostrowski , “Motion Planning with Uncertainty,” Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium (1998).

76. G. Wang , G. Cao and T. La Porta , “Movement-assisted sensor deployment,” IEEE Trans. Mobile Comput. 5 (6), 640652 (2006).

79. R. Saber and R. Murray , “Graph rigidity and distributed formation stabilization of multi-vehicle systems,” Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, Nevada (2002).

81. W. Ren , W. Beard and E. Atkins , “Information consensus in multivehicle cooperative control,” IEEE Control Syst. Mag. 27 (2), 7182 (2007).

82. W. Ren , “Consensus strategies for cooperative control of vehicle formations,” IET Control Theory Appl. 1 (2), 505512 (2007).

85. J. Desai , V. Kumar and J. Ostrowski , “Control of Changes in Formation for a Team of Mobile Robots,” Proceedings of the IEEE International Conference on Robotics and Automation, Detroit, Michigan (1999).

89. G. Baldassarre et al., “Self-organised coordinated motion in groups of physically connected robots,” IEEE Trans. Syst. Man Cybern. 37 (1), 224239 (2007).

90. C. Ampatzis et al., “Evolving self-assembly in autonomous homogeneous robots: Experiments with two physical robots,” Artif. Life 15 (4), 465484 (2009).

95. G. Castelli , R. Menezes and F. Zambonelli , “Self-Organized Control of Knowledge Generation in Pervasive Computing Systems,” In: SAC'09. (ACM, Honolulu, Hawaii, 2009).

96. Y. Jin and Y. Meng , “Morphogenetic robotics: An emerging new field in developmental robotics,” IEEE Trans. Syst. Man Cybern. C: Appl. Rev. 41 (2), 145160 (2011).

98. Y. Lu , Y. Guo and Z. Dong , “Multiagent flocking with formation in a constrained environment,” J. Control Theory Appl. 8 (2), 151159 (2010).

99. A. Winfield , “Safety in numbers: Fault-tolerance in robot swarms,” Int. J. Modelling Identifi. Control 1 (1), 3038 (2006).

101. J. Desai , P. Ostrowski and V. Kumar , “Modeling and control of formations of nonholonomic mobile robots,” Trans. Robot. Autom. 17 (6), 905908 (2001).

103. Y. Jin , Y. Meng and H. Guo , “A Morphogenetic Self-Organization Algorithm for Swarm Robotic Systems Using Relative Position Information,” Proceedings of the UK Workshop on Computational Intelligence (UKCI), Colchester, UK (September 2010).

105. H. Guo , Y. Meng and Y. Jin , “Analysis of Local Communication Load in Shape Formation of a Distributed Morphogenetic Swarm Robotic System,” Proceedings of the IEEE Congress on Evolutionary Computation (CEC), Barcelona, Spain (2010).

106. L. Barnes , M. Fields and K. Valavanis , “Swarm formation control utilizing elliptical surfaces and limiting functions,” IEEE Trans. Syst. Man Cybern. 39 (6), 14341445 (2009).

107. Z. Xue and J. Zeng , “Formation Control Numerical Simulations of Geometric Patterns for Unmanned Autonomous Vehicles with Swarm Dynamical Methodologies,” Proceedings of the International Conference on Measuring Technology and Mechatronics Automation, Zhangjiajie, China (2009).

109. D. Grossman , S. Aranson and E. Jacob , “Emergence of agent swarm migration and vortex formation through inelastic collisions,” New J. Phys. 10, 110 (2008).

110. H. Tanner , G. Pappas and V. Kumar , “Leader-to-formation stability,” IEEE Trans. Robot. Autom. 20 (3), 443455 (2004).

111. V. Gazi and K. Passino , “Stability analysis of swarms,” IEEE Trans. Autom. Control 48 (4), 692697 (2003).

113. E. Ekici , Y. Gu and D. Bozdag , “Mobility-based communication in wireless sensor networks,” IEEE Commun. Mag. 44 (7), 5662 (2006).

114. J. Cortes , S. Martinez and F. Bullo , “Robust rendezvous for mobile autonomous agents via proximity graphs in arbitrary dimensions,” IEEE Trans. Autom. Control 51 (8), 12891298 (2006).

115. G. Tanner , A. Jadbabaie and J. Pappas , “Flocking in fixed and switching networks,” IEEE Trans. Autom. Control 52 (5), 863868 (2007).

116. R. Olfati-Saber , “Flocking for multi-agent dynamic systems: Algorithms and theory,” IEEE Trans. Autom. Control 51 (3), 401420 (2006).

117. J. Esposito , “Maintaining wireless connectivity constraints for robot swarms in the presence of obstacles,” J. Robot. 2011, 112 (2011).

125. W. Jatmiko , K. Sekiyama and T. Fukuda , “A pso-based mobile robot for odor source localization in dynamic advection-diffusion with obstacles environment: theory, simulation and measurement,” IEEE Comput. Intell. Mag. 2 (2), 3751 (2007).

128. B. Lei and W. Li , “A Fuzzy Behaviours Fusion Algorithm for Mobile Robot Real-time Path Planning in Unknown Environment,” Proceedings of the 2007 IEEE International Conference on Integration Technology Shenzhen, China (2007).

130. J. Tian , M. Gao and E. Lu , “Dynamic Collision Avoidance Path Planning for Mobile Robot Based on Multi-Sensor Data Fusion by Support Vector Machine,” Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, Harbin (2007).

131. S. Hettiarachchi and W. Spears , “Distributed adaptive swarm for obstacle avoidance,” Int. J. Intell. Comput. Cybern. 2 (4), 644671 (2009).

132. J. Berg , D. Ferguson and J. Kuffner , “Anytime Path Planning and Replanning in Dynamic Environments,” Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida (2006).

139. L. Vig and J. Adams , “Multi-robot coalition formation,” IEEE Trans. Robot. 22 (4), 637649 (2006).

143. S. Yang , M. Li and J. Wu , “Scan-based movement-assisted sensor deployment methods in wireless sensor networks,” IEEE Trans. Parallel Distrib. Syst. 18 (8) 11081121 (2007).

144. P. Biswas and S. Phoha , “Self-organizing sensor networks for integrated target surveillance,” IEEE Trans. Comput. 55 (8) 10331047 (2006).

145. J. Seyfried et al., “The I-SWARM Project: Intelligent Small World Autonomous Robots for Micro-Manipulation,” In: Swarm Robotics, LNCS 3342 (Springer, Berlin, Germany, 2005) pp. 7083.

147. S. Ge and C. Fua , “Quenses and artificial potential trenches for multirobot formations,” IEEE Trans. Robot. Autom. 21 (4), 646656 (2005).

Recommend this journal

Email your librarian or administrator to recommend adding this journal to your organisation's collection.

Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
Please enter your name
Please enter a valid email address
Who would you like to send this to? *
×

Keywords:

Metrics

Full text views

Total number of HTML views: 0
Total number of PDF views: 198 *
Loading metrics...

Abstract views

Total abstract views: 694 *
Loading metrics...

* Views captured on Cambridge Core between September 2016 - 23rd August 2017. This data will be updated every 24 hours.