Swarms of simple, identical robots can be resilient against members failing by operating without a central node or point of failure. These types of swarms are called decentralized because there is no ..
Swarms of simple, identical robots can be resilient against members failing by operating without a central node or point of failure. These types of swarms are called decentralized because there is no central agent or robot controlling the rest. While many decentralized swarm algorithms focus on coordination or environmental signaling, this research focuses on arranging the swarm members into a scale-free network topology from a random starting distribution without central control or planning. This topology enables efficient passing of complex, targeted messages between agents in the swarm. We propose using a biologically inspired quorum sensing algorithm to enable the swarm to self-organize. The algorithm is inspired by the behavior of fungal and bacterial biofilms and will be tested using a multi-agent simulation. The success of the algorithm is determined by the condition 2
