TY - GEN
T1 - A distance weighted-based approach for self-organized aggregation in robot swarms
AU - Khaldi, Belkacem
AU - Harrou, Fouzi
AU - Cherif, Foudil
AU - Sun, Ying
N1 - KAUST Repository Item: Exported on 2020-10-01
Acknowledged KAUST grant number(s): OSR-2015-CRG4-2582
Acknowledgements: This work is based upon a collaboration work supported by the King Abdullah University of Science and Technology (KAUST) Office of Sponsored Research (OSR) under Award No: OSR-2015-CRG4-2582, and the LESIA Laboratory, Department of Computer Science, University of Mohamed Khider, Biskra, Algeria.
PY - 2017/12/14
Y1 - 2017/12/14
N2 - In this paper, a Distance-Weighted K Nearest Neighboring (DW-KNN) topology is proposed to study self-organized aggregation as an emergent swarming behavior within robot swarms. A virtual physics approach is applied among the proposed neighborhood topology to keep the robots together. A distance-weighted function based on a Smoothed Particle Hydrodynamic (SPH) interpolation approach is used as a key factor to identify the K-Nearest neighbors taken into account when aggregating the robots. The intra virtual physical connectivity among these neighbors is achieved using a virtual viscoelastic-based proximity model. With the ARGoS based-simulator, we model and evaluate the proposed approach showing various self-organized aggregations performed by a swarm of N foot-bot robots.
AB - In this paper, a Distance-Weighted K Nearest Neighboring (DW-KNN) topology is proposed to study self-organized aggregation as an emergent swarming behavior within robot swarms. A virtual physics approach is applied among the proposed neighborhood topology to keep the robots together. A distance-weighted function based on a Smoothed Particle Hydrodynamic (SPH) interpolation approach is used as a key factor to identify the K-Nearest neighbors taken into account when aggregating the robots. The intra virtual physical connectivity among these neighbors is achieved using a virtual viscoelastic-based proximity model. With the ARGoS based-simulator, we model and evaluate the proposed approach showing various self-organized aggregations performed by a swarm of N foot-bot robots.
UR - http://hdl.handle.net/10754/626841
UR - http://ieeexplore.ieee.org/document/8192133/
UR - http://www.scopus.com/inward/record.url?scp=85046638131&partnerID=8YFLogxK
U2 - 10.1109/ICEE-B.2017.8192133
DO - 10.1109/ICEE-B.2017.8192133
M3 - Conference contribution
SN - 9781538606865
SP - 1
EP - 6
BT - 2017 5th International Conference on Electrical Engineering - Boumerdes (ICEE-B)
PB - Institute of Electrical and Electronics Engineers (IEEE)
ER -