Survey of Swarm Robotics: Coordination and Control

As an emergent research area by which swarm intelligence is applied to multi-robot systems;swarm robotics studies how to coordinate large groups of relatively simple robots. Swarm robotic is closely related to the idea of swarm intelligence and it shares its interest in self-organized decentralized systems. Hence, it offers several advantages for robotic applications such as scalability, flexibility and robustness due to redundancy. The main purpose of using multi-agent systems is to collectively reach goals that are difficult to achieve by an individual agent or a monolithic system. In formation control one seeks to design a suitable controller to ensure a group of agents move through space in an ordered manner along a desired reference trajectory or path while sometimes avoiding collisions with obstaclesor other agents

Keywords:

agent dynamic , swarm robotics , formation control