Modelling of collective construction in a minimalist robotic swarm

Abstract

This paper reports on the preliminary findings of collective construction with a swarm of minimalist robots. In particular, it shows how linear wall structures, composed of square objects, can be formed by these robots using the mechanisms of visual template and stigmergy. It is the first time, to our knowledge, that a naturally occurring visual landmark has served as a visual template when doing collective construction. The control algorithm for swarm robots is implemented as Finite State Machines (FSMs). Results demonstrate the viability of the proposed method. © 2011 Springer-Verlag Berlin Heidelberg.