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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 841Characteristics of and Approaches to Flocking in...

Characteristics of and Approaches to Flocking in Swarm Robotics

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Abstract:

One of the basic collective behaviors of swarm robotic systems is flocking, which has been actively studied for more than a decade and mimics a natural phenomenon where a group of animals move together as a single entity. In flocking, each robot in the flock tries to adjust its velocity and align with other robots in the flock while maintaining a predetermined pattern (formation) and avoiding collisions with obstacle and other members of the flock. This paper presents an up-to-date review on the characteristics of flocking problems and tasks, as well as solution approaches to flocking problems. We have addressed flock characteristics from the formation type, robustness, leader-follower, information, and communication aspects. Also, various flocking tasks of exploration, motion planning and navigation, shepherding, covering, object transportation, and simultaneous object collection and shepherding are investigated. Also, a new categorization of approaches to flocking is presented, which contains Leader-Follower, Behavior-based, Control-based, Fault-Tolerant, and Hybrid approaches. Finally, a comparative table on the characteristics of flocking problems appeared in various works of the literature is presented.

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Periodical:

Applied Mechanics and Materials (Volume 841)

Pages:

240-249

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.841.240

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Online since:

June 2016

Authors:

Ellips Masehian*, Mitra Royan

Keywords:

Flocking, Object Collecting, Pattern Formation, Shepherding, Swarm Robotics

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© 2016 Trans Tech Publications Ltd. All Rights Reserved

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