Survey of Methods and Algorithms of Robot Swarm Aggregation

Abstract

The paper considers the problem of swarm aggregation of autonomous robots with the use of three methods based on the analogy of the behavior of biological objects. The algorithms substantiating the requirements for hardware realization of sensor, computer and network resources and propulsion devices are presented. Techniques for efficiency estimation of swarm aggregation via space-time characteristics are described. The developed model of the robot swarm reconfiguration into a predetermined three-dimensional shape is presented.