On the Analysis of a Swarm-Intelligence Coordination Model for Swarm Robots
نویسندگان
چکیده
In this paper, we propose three specific scenarios in order to allow one to analyze the performance of swarmintelligence based coordination models for swarm of robots. The specific scenarios aim to assess some features presented on swarm robots: (i) contraction and expansion; (ii) selfsegregation and self-aggregation; and (iii) the capacity to change abruptly the fly direction whenever it is necessary. We also propose a metric to analyze the cohesion of the swarm during a mission, named COE. We analyzed a recently proposed model based on the Particle Swarm Optimization technique designed to coordinate automatically swarms of robots in terms of Collision rate and COE. We performed simulations varying all the parameters in the three scenarios and we observed that the main problem is related to collisions when the width of the passageway is not much more higher than the UAVs collision radius. Keywords-Unmanned Aerial Vehicles; Swarm Robots; Swarm intelligence; Particle Swarm Optimization; Specific Scenarios.
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