A distance weighted-based approach for self-organized aggregation in robot swarms

Belkacem Khaldi; Fouzi Harrou; Foudil Cherif; Ying Sun

doi:10.1109/ICEE-B.2017.8192133

A distance weighted-based approach for self-organized aggregation in robot swarms

Belkacem Khaldi, Fouzi Harrou, Foudil Cherif, Ying Sun

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Scopus citations

Abstract

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)
Pages	1-6
Number of pages	6
ISBN (Print)	9781538606865
DOIs	https://doi.org/10.1109/ICEE-B.2017.8192133
State	Published - Dec 14 2017

Bibliographical note

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.

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10.1109/ICEE-B.2017.8192133

https://repository.kaust.edu.sa/bitstream/10754/626841/1/A%20Distance%20Weighted-based%20Approach%20for%20Self-Organized%20Aggregation%20in%20Robot%20Swarms%20.pdf

Cite this

@inproceedings{37cb62226f7c4cd282221b70528783e8,

title = "A distance weighted-based approach for self-organized aggregation in robot swarms",

abstract = "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.",

author = "Belkacem Khaldi and Fouzi Harrou and Foudil Cherif and Ying Sun",

note = "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.",

year = "2017",

month = dec,

day = "14",

doi = "10.1109/ICEE-B.2017.8192133",

language = "English (US)",

isbn = "9781538606865",

pages = "1--6",

booktitle = "2017 5th International Conference on Electrical Engineering - Boumerdes (ICEE-B)",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

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A distance weighted-based approach for self-organized aggregation in robot swarms. / Khaldi, Belkacem; Harrou, Fouzi; Cherif, Foudil et al.
2017 5th International Conference on Electrical Engineering - Boumerdes (ICEE-B). Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 1-6.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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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.

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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 -

A distance weighted-based approach for self-organized aggregation in robot swarms

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