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.
|Original language||English (US)|
|Title of host publication||2017 5th International Conference on Electrical Engineering - Boumerdes (ICEE-B)|
|Publisher||Institute of Electrical and Electronics Engineers (IEEE)|
|Number of pages||6|
|State||Published - Dec 14 2017|