Swarm-Bots and Swarmanoid: Two Experiments in Embodied Swarm Intelligence
Citations Over Time
Abstract
Swarm intelligence is the discipline that deals with natural and artificial systems composed of many individuals that coordinate using decentralized control and self-organization. In particular, it focuses on the collective behaviors that result from the local interactions of the individuals with each other and with their environment. The characterizing property of a swarm intelligence system is its ability to act in a coordinated way without the presence of a coordinator or of an external controller. Swarm robotics could be defined as the application of swarm intelligence principles to the control of groups of robots. In this talk I will discuss results of Swarm-bots, an experiment in swarm robotics. A swarm-bot is an artifact composed of a swarm of assembled s-bots. The s-bots are mobile robots capable of connecting to, and attached to each other and, when needed, become a single robotic system that can move and change its shape. S-bots have relatively simple sensors and motors and limited computational capabilities. A swarm-bot can solve problems that cannot be solved by s-bots alone. In the talk, I will shortly describe the s-bots hardware and the methodology we followed to develop algorithms for their control. Then I will focus on disconnecting from, other s-bots. In the swarm-bot form, the s-bots are the capabilities of the swarm-bot robotic system by showing video recordings of some of the many experiments we performed to study coordinated movement, path formation, self-assembly, collective transport, shape formation, and other collective behaviors. I will conclude presenting initial results of the Swarmanoid experiment, an extension of swarm-bot to 3- dimensional environments.