sg 16(9): e2

Research Article

Collective Decision Making in a Swarm of Robots: How Robust the BEECLUST Algorithm Performs in Various Conditions

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  • @ARTICLE{10.4108/eai.3-12-2015.2262332,
        author={Daniela Kengyel and Payam Zahadat and Thomas Kunzfeld and Thomas Schmickl},
        title={Collective Decision Making in a Swarm of Robots: How Robust the BEECLUST Algorithm Performs in Various Conditions},
        journal={EAI Endorsed Transactions on Serious Games},
        volume={3},
        number={9},
        publisher={ACM},
        journal_a={SG},
        year={2016},
        month={5},
        keywords={swarm robotics, autonomous agents, self-organisation, bio-inspired algorithm, swarm intelligence, collective decision making, search},
        doi={10.4108/eai.3-12-2015.2262332}
    }
    
  • Daniela Kengyel
    Payam Zahadat
    Thomas Kunzfeld
    Thomas Schmickl
    Year: 2016
    Collective Decision Making in a Swarm of Robots: How Robust the BEECLUST Algorithm Performs in Various Conditions
    SG
    EAI
    DOI: 10.4108/eai.3-12-2015.2262332
Daniela Kengyel1,*, Payam Zahadat1, Thomas Kunzfeld1, Thomas Schmickl1
  • 1: Artificial Life Laboratory at the Department of Zoology, Karl-Franzens University Graz, Austria
*Contact email: daniela.kengyel@uni-graz.at

Abstract

In this paper a honeybee inspired collective-decision-making algorithm called BEECLUST is studied in a swarm of autonomous robots and the performance of the swarm is investigated in different conditions. The algorithm has low requirements thus it is promising for implementation in robots with low resources. Here the algorithm is applied in swarms of improved e-puck robots in three different conditions in order to study the strengths and limitations of the algorithm. The collective system demonstrated a high performance in adapting to a dynamic environment as well as a very low sensitivity to additional robots with malfunctioning sensors. On the other hand the system shows an strong response to robots that act as social seeds influencing the decision-making of the swarm.