Decentralized control strategy within a large group of objects based on swarm intelligence

Leader election algorithms for static swarms

“…In reviews mentioned above Yogeswaran and Ponnambalam (2010) and Shi et al (2012), task distribution in robot groups was considered rather declaratively. At best, some physical models, methods of distributed planning, optimisation and other general mechanisms are mentioned in Kalyaev, Kapustjan, and Ivanov (2011). In practice, one usually deals with either the centralised control systems or with homogeneous groups without functional differentiation.…”

“…If M < L, there are too many performers with role R M . This is not a good situation, but it is not fatal because in a static swarm we are not interested in role distribution optimisation (like Kalyaev et al (2011)). If M > L, however, the situation is worse, as there is a deficiency of performers, which is extremely undesirable.…”

Formation of Control Structures in Static Swarms

“…If M < L, there are too many performers with role R M . This is not a good situation, but it is not fatal because in a static swarm we are not interested in role distribution optimization (like [5]). If M > L, however, the situation is worse, as there is a deficiency of performers, which is extremely undesirable.…”

“…However, more complex challenges solved by a group of robots require differentiation of their functions and, generally speaking, distribution of tasks between robots; this is perhaps one of the most problematic concepts of swarm robotics. In reviews mentioned above [15,17], task distribution in robot groups was considered rather declaratively-at best, some physical models, methods of distributed planning, optimization and other general mechanisms are mentioned [5]. In practice, one usually deals with either the centralized control systems or with homogeneous groups without functional differentiation.…”