Collective Gradient Perception in a Flocking Robot Swarm

Tugay Alperen Karagüzel*, Ali Emre Turgut, Eliseo Ferrante

*Corresponding author for this work

Research output: Chapter in Book / Report / Conference proceedingConference contributionAcademicpeer-review


Animals can carry their environmental sensing abilities beyond their own limits by using the advantage of being in a group. Some animal groups use this collective ability to migrate or to react to an environmental cue. The environmental cue sometimes consists of a gradient in space, for example represented by food concentration or predators’ odors. In this study, we propose a method for collective gradient perception in a swarm of flocking agents where single individuals are not capable of perceiving the gradient but only sample information locally. The proposed method is tested with multi-agent simulations and compared to standard collective motion methods. It is also evaluated using realistic dynamical models of autonomous aerial robots within the Gazebo simulator. The results suggest that the swarm can move collectively towards specific regions of the environment by following a gradient while solitary agents are incapable of doing it.

Original languageEnglish
Title of host publicationSwarm Intelligence
Subtitle of host publication12th International Conference, ANTS 2020 Barcelona, Spain, October 26–28, 2020, Proceedings
EditorsMarco Dorigo, Thomas Stützle, Maria J. Blesa, Christian Blum, Heiko Hamann, Mary Katherine Heinrich, Volker Strobel
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages8
ISBN (Electronic)9783030603762
ISBN (Print)9783030603755
Publication statusPublished - 2020
Event12th International Conference on Swarm Intelligence, ANTS 2020 - Barcelona, Spain
Duration: 26 Oct 202028 Oct 2020

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume12421 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference12th International Conference on Swarm Intelligence, ANTS 2020


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