Collective Robotics: From Social Insects to Robots
Abstract
Achieving tasks with multiple robots will require a control system that is both simple and scalable as the number of robots increases. Collective behavior as demonstrated by social insects is a form of decentralized control that may prove useful in controlling multiple robots. Nature's several examples of collective behavior have motivated our approach to controlling a multiple robot system using a group behavior. Our mechanisms, used to invoke the group behavior, allow the system of robots to perform tasks without centralized control or explicit communication. We have constructed a system of five mobile robots capable of achieving simple collective tasks to verify the results obtained in simulation. The results suggest that decentralized control without explicit communication can be used to perform cooperative tasks requiring a collective behavior.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
Different ways have been proposed to control or steer robot swarms directly by the user, such as through gestures or EEG signals.
“Alternatively, robot swarms could be controlled or steered directly by the user, and different ways have been proposed, such as through gestures [108], [109] or EEG signals [110].”
From Swarm Robotics: Past, Present, and Future [Point of View] (2021) · cites this paper as [109]
Cites
A robust layered control system for a mobile robot
Brooks, R. (1986) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1986.1087032 · Cited by 7,799 · cited 2× · see citing works
“The robots are modeled as a set of sensors, actuators and behaviors, combined in a control architecture that uses either a subsumption [7] xed priority or an Adaptive Logic Network [3] behavior arbitration mechanism.”
BackgroundWilson, E. O. (1971) · Medical Entomology and Zoology · Cited by 4,540 · see citing works
Proceedings. 1985 IEEE International Conference on Robotics and Automation
(1985) · doi:10.1109/robot.1985 · Cited by 3,692 · see citing works
Vehicles: Experiments in Synthetic Psychology.
Dennett, D. C., & Braitenberg, V. (1986) · The Philosophical Review · doi:10.2307/2185146 · Cited by 1,626 · see citing works
Vehicles: Experiments in synthetic psychology
Stefik, M. (1985) · Artificial Intelligence · doi:10.1016/0004-3702(85)90057-8 · Cited by 1,346 · see citing works
The Dynamics of Collective Sorting: Robot-Like Ants and Ant-Like Robots
Deneubourg, J. L., Goss, S., Franks, N., Sendova-Franks, A., Detrain, C., & Chrétien, L. (1991) · From Animals to Animats · doi:10.7551/mitpress/3115.003.0048 · Cited by 889 · see citing works
Caste and ecology in the social insects
(1979) · Acta Biotheoretica · doi:10.1007/bf00046355 · Cited by 799 · see citing works
IEEE International Conference On Robotics And Automation
(2001) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2001.932732 · Cited by 771 · see citing works
Collective patterns and decision-making
Deneubourg, J., & Goss, S. (1989) · Ethology Ecology & Evolution · doi:10.1080/08927014.1989.9525500 · Cited by 667 · see citing works
Collective decision-making in honey bees: how colonies choose among nectar sources
Seeley, T. D., Camazine, S. M., & Sneyd, J. (1991) · Behavioral Ecology and Sociobiology · doi:10.1007/bf00175101 · Cited by 590 · see citing works
Ein Beitrag zur Frage der Arbeitsteilung im Bienenstaat
Lindauer, M. (1952) · Journal of Comparative Physiology A · doi:10.1007/bf00298048 · Cited by 475 · see citing works
Navigation strategies for multiple autonomous mobile robots moving in formation
Wang, P. K. C. (1991) · Journal of Robotic Systems · doi:10.1002/rob.4620080204 · Cited by 398 · see citing works
?Matched filters? ? neural models of the external world
Wehner, R. (1987) · Journal of Comparative Physiology A · doi:10.1007/bf00603659 · Cited by 327 · see citing works
Cooperation without communication: Multiagent schema‐based robot navigation
Arkin, R. C. (1992) · Journal of Robotic Systems · doi:10.1002/rob.4620090304 · Cited by 256 · see citing works
Army Ants: A Collective Intelligence
Franks, N. R. (1989) · Cited by 222 · see citing works
Toward the development of a material transport system using swarms of ant-like robots
Stilwell, D. J., & Bay, J. S. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1993.292070 · Cited by 215 · see citing works
Chemical Releaser of Necrophoric Behavior in Ants
Wilson, E. O., Durlach, N. I., & Roth, L. M. (1958) · Psyche A Journal of Entomology · doi:10.1155/1958/69391 · Cited by 213 · see citing works
Self-organization mechanisms in ant societies. I: Trail recruitment to newly discovered food sources
Pasteéls, J. M., Deneubourg, J., & Goss, S. (1987) · Dépôt institutionnel de l'Université libre de Bruxelles (Université Libre de Bruxelles) · Cited by 209 · see citing works
Minimizing complexity in controlling a mobile robot population
Matarić, M. J. (2003) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1992.220192 · Cited by 200 · see citing works
Wilson, S. W. (1991) · The MIT Press eBooks · doi:10.7551/mitpress/3115.003.0004 · Cited by 195 · see citing works
Indoor automation with many mobile robots
Caloud, P., Choi, W., Latombe, J.-C., Pape, C. L., & Yim, M. H. (2002) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.1990.262370 · Cited by 181 · see citing works
Task Differentiation in Polistes Wasp Colonies: A Model of Self-Organizing Groups of Robots
Guy Theraulaz, A., Goss, S., Gervet, J., & Deneubourg, J. (1991) · The MIT Press eBooks · doi:10.7551/mitpress/3115.003.0047 · Cited by 149 · see citing works
Social Behavior and Communication
Stuart, A. M. (1969) · Elsevier eBooks · doi:10.1016/b978-0-12-395529-6.50011-8 · Cited by 146 · see citing works
Eyes, eye stalks and the visual world of semi-terrestrial crabs
Zeil, J., Nalbach, G., & Nalbach, H.-O. (1986) · Journal of Comparative Physiology A · doi:10.1007/bf00603733 · Cited by 141 · see citing works
Franks, N. R. (1986) · Behavioral Ecology and Sociobiology · doi:10.1007/bf00300517 · Cited by 133 · see citing works
Lunar base construction robots
Brooks, R. A., Maes, P., Matarić, M. J., & More, G. (2002) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.1990.262415 · Cited by 133 · see citing works
Theoretical problems for the realization of distributed robotic systems
Beni, G., & Wang, J. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1991.131906 · Cited by 132 · see citing works
Communication of behavorial state in multi-agent retrieval tasks
Arkin, R. C., Balch, T. R., & Nitz, E. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1993.291841 · Cited by 126 · see citing works
Collective robotic intelligence :
Kube, C. R. (1992) · doi:10.7939/r38g8fr3w · Cited by 98 · see citing works
Self-citationCooperation between distributed agents through self-organisation
Steels, L. (2002) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.1990.262534 · Cited by 92 · see citing works
Map making by cooperating mobile robots
Singh, K., & Fujimura, K. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1993.292155 · Cited by 80 · see citing works
Challenges for Complete Creature Architectures
Brooks, R. A. (1991) · The MIT Press eBooks · doi:10.7551/mitpress/3115.003.0059 · Cited by 79 · see citing works
Alarm, Defense, and Construction Behavior Relationships in Termites (Isoptera)
Stuart, A. M. (1967) · Science · doi:10.1126/science.156.3778.1123 · Cited by 73 · see citing works
Harvesting by a group of robots
Goss, S., Deneubourg, J., Bourgine, P., & Varela, E. Z. (1992) · Dépôt institutionnel de l'Université libre de Bruxelles (Université Libre de Bruxelles) · Cited by 71 · see citing works
Functional distribution among multiple mobile robots in an autonomous and decentralized robot system
Asama, H., Habib, M. K., Endo, I., OZAKI, K., Matsumoto, A., & Ishida, Y. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1991.131907 · Cited by 65 · see citing works
Carbon Dioxide, a Releaser for Digging Behavior in Solenopsis Geminata (Hymenoptera: Formicidae)
Hangartner, W. (1969) · Psyche A Journal of Entomology · doi:10.1155/1969/58428 · Cited by 57 · see citing works
Genovese, V., Dario, P., Magni, R., & Odetti, L. (2005) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.1992.594225 · Cited by 52 · see citing works
Fast, Cheap and Out of Control
Brooks, R. A., & Flynn, A. M. (1989) · Cited by 46 · see citing works
Swarm robot materials handling paradigm for a manufacturing workcell
Doty, K. L., & Aken, R. E. V. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1993.292072 · Cited by 45 · see citing works
Controlling collective tasks with an ALN
Kube, C. R., Zhang, H., & Wang, X. (2002) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.1993.583112 · Cited by 33 · see citing works
Self-citationMulti-Robot Coordination For Battlefield Strategies
Noreils, F. R. (2005) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.1992.601395 · Cited by 25 · see citing works
Fast, Cheap, and Out of Control
Waldrop, M. M. (1990) · Science · doi:10.1126/science.248.4958.959 · Cited by 24 · see citing works
�ber die Oreintierung der Biene im Duftfeld
Lindauer, M., & Martin, H. (1963) · Die Naturwissenschaften · doi:10.1007/bf00689222 · Cited by 23 · see citing works
Instinctive behaviors and personalities in societies of cellular robots
Dario, P., Ribechini, F., Genovese, V., & Sandini, G. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1991.131908 · Cited by 21 · see citing works
Moser, J. C. (1970) · Elsevier eBooks · doi:10.1016/b978-0-12-762650-5.50012-1 · Cited by 20 · see citing works
A Comparative Study of Multi-Robot Systems
Taipale, T., & Hirai, S. (1992) · Cited by 4 · see citing works
Flagged first, then by citations
Cited by
Sorted by citations
Gonzalez, T. F. (2007) · Chapman & Hall/CRC eBooks · doi:10.1201/9781420010749-33 · Cited by 6,655 · see citing works
Dorigo, M., Birattari, M., & Stützle, T. (2006) · IEEE Computational Intelligence Magazine · doi:10.1109/mci.2006.329691 · Cited by 5,338 · see citing works
Dorigo, M., Birattari, M., & Stützle, T. (2006) · IEEE Computational Intelligence Magazine · doi:10.1109/ci-m.2006.248054 · Cited by 6,363 · see citing works
A Formal Analysis and Taxonomy of Task Allocation in Multi-Robot Systems
Gerkey, B. P., & Matarić, M. J. (2004) · The International Journal of Robotics Research · doi:10.1177/0278364904045564 · Cited by 1,778 · see citing works
Cooperative Mobile Robotics: Antecedents and Directions
Cao, Y. U., Fukunaga, A. S., & Kahng, A. B. (1997) · Autonomous Robots · doi:10.1023/a:1008855018923 · Cited by 1,240 · see citing works
Swarm Robotics: From Sources of Inspiration to Domains of Application
Şahi̇n, E. (2005) · Lecture notes in computer science · doi:10.1007/978-3-540-30552-1_2 · Cited by 969 · see citing works
Inspiration for optimization from social insect behaviour
Bonabeau, E., Dorigo, M., & Theraulaz, G. (2000) · Nature · doi:10.1038/35017500 · Cited by 915 · see citing works
Cooperative mobile robotics: antecedents and directions
Cao, Y. U., Fukunaga, A. S., Kahng, A. B., & Meng, F. (2002) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.1995.525801 · Cited by 444 · see citing works
Cooperative transport by ants and robots
Kube, C. R., & Bonabeau, E. (2000) · Robotics and Autonomous Systems · doi:10.1016/s0921-8890(99)00066-4 · Cited by 434 · see citing works
Self-citationSwarm Robotics: Past, Present, and Future [Point of View]
Dorigo, M., Theraulaz, G., & Trianni, V. (2021) · Proceedings of the IEEE · doi:10.1109/jproc.2021.3072740 · Cited by 401 · see citing works
Ant-like task allocation and recruitment in cooperative robots
Krieger, M. J. B., Billeter, J.-B., & Keller, L. (2000) · Nature · doi:10.1038/35023164 · Cited by 352 · see citing works
Parker, L. E., Rus, D. L., & Sukhatme, G. S. (2016) · Springer handbooks · doi:10.1007/978-3-319-32552-1_53 · Cited by 292 · see citing works
Reflections on the future of swarm robotics
Dorigo, M., Theraulaz, G., & Trianni, V. (2020) · Science Robotics · doi:10.1126/scirobotics.abe4385 · Cited by 282 · see citing works
Decentralized control of cooperative robotic vehicles: theory and application
Feddema, J. T., Lewis, C., & Schoenwald, D. A. (2002) · IEEE Transactions on Robotics and Automation · doi:10.1109/tra.2002.803466 · Cited by 256 · see citing works
Distributed intelligence: overview of the field and its application in multi-robot systems
Parker, L. E. (2008) · Journal of Physical Agents (JoPha) · doi:10.14198/jopha.2008.2.1.02 · Cited by 256 · see citing works
Getting to know each other—Artificial social intelligence for autonomous robots
Dautenhahn, K. (1995) · Robotics and Autonomous Systems · doi:10.1016/0921-8890(95)00054-2 · Cited by 241 · see citing works
Cooperative Object Transport in Multi-Robot Systems: A Review of the State-of-the-Art
Tuci, E., Alkilabi, M. H. M., & Akanyeti, O. (2018) · Frontiers in Robotics and AI · doi:10.3389/frobt.2018.00059 · Cited by 229 · see citing works
Hydrodynamics of self-propelled hard rods
Baskaran, A., & Marchetti, M. C. (2008) · Physical Review E · doi:10.1103/physreve.77.011920 · Cited by 228 · see citing works
Parker, L. E. (2008) · Springer eBooks · doi:10.1007/978-3-540-30301-5_41 · Cited by 220 · see citing works
Ball, P. (2001) · Nature · doi:10.1038/35053198 · Cited by 191 · see citing works
Multi-agent robot systems as distributed autonomous systems
Ota, J. (2006) · Advanced Engineering Informatics · doi:10.1016/j.aei.2005.06.002 · Cited by 183 · see citing works
Mason, M. T. (2018) · Annual Review of Control Robotics and Autonomous Systems · doi:10.1146/annurev-control-060117-104848 · Cited by 183 · see citing works
Cooperative Mobile Robotics: Antecedents and Directions
Cao, Y. U., Kahng, A. B., & Fukunaga, A. S. (1997) · Springer eBooks · doi:10.1007/978-1-4757-6451-2_1 · Cited by 178 · see citing works
Control of cooperating mobile manipulators
Sugar, T. G., & Kumar, V. (2002) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.988979 · Cited by 170 · see citing works
Antonelli, G., Arrichiello, F., & Chiaverini, S. (2009) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2008.2004447 · Cited by 158 · see citing works
Brooks, R. A. (1997) · Robotics and Autonomous Systems · doi:10.1016/s0921-8890(96)00064-4 · Cited by 157 · see citing works
Teamwork in Self-Organized Robot Colonies
Shervin Nouyan, A., Groß, R., Michael Bonani, C., Francesco Mondada, C., & Dorigo, M. (2009) · IEEE Transactions on Evolutionary Computation · doi:10.1109/tevc.2008.2011746 · Cited by 156 · see citing works
Towards group transport by swarms of robots
Groß, R., & Dorigo, M. (2009) · International Journal of Bio-Inspired Computation · doi:10.1504/ijbic.2009.022770 · Cited by 148 · see citing works
Autonomous and Distributed Motion Planning for Satellite Swarm
Izzo, D., & Pettazzi, L. (2007) · Journal of Guidance Control and Dynamics · doi:10.2514/1.22736 · Cited by 136 · see citing works
Task Modelling in Collective Robotics
Kube, C. R. (1997) · Autonomous Robots · doi:10.1023/a:1008859119831 · Cited by 117 · see citing works
Self-citationSelf-Organized Coordinated Motion in Groups of Physically Connected Robots
Baldassarre, G., Trianni, V., Michael Bonani, C., Francesco Mondada, C., Dorigo, M., & Nolfi, S. (2007) · IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics) · doi:10.1109/tsmcb.2006.881299 · Cited by 111 · see citing works
Modular Q-learning based multi-agent cooperation for robot soccer
Park, K.-H., Kim, Y., & Kim, J.-H. (2001) · Robotics and Autonomous Systems · doi:10.1016/s0921-8890(01)00114-2 · Cited by 110 · see citing works
Embodiment and Interaction in Socially Intelligent Life-Like Agents
Dautenhahn, K. (1999) · Lecture notes in computer science · doi:10.1007/3-540-48834-0_7 · Cited by 106 · see citing works
Self-Organizing Network Services With Evolutionary Adaptation
Nakano, T., & Suda, T. (2005) · IEEE Transactions on Neural Networks · doi:10.1109/tnn.2005.853421 · Cited by 102 · see citing works
Mind, Body, World: Foundations of Cognitive Science
Dawson, M. R. W. (2013) · Athabasca University Press eBooks · doi:10.15215/aupress/9781927356173.01 · Cited by 97 · see citing works
The use of perceptual cues in multi-robot box-pushing
Kube, C. R., & Zhang, H. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1996.506178 · Cited by 91 · see citing works
Self-citationGrounded Symbolic Communication between Heterogeneous Cooperating Robots
Jung, D., & Zelinsky, A. (2000) · Autonomous Robots · doi:10.1023/a:1008929609573 · Cited by 89 · see citing works
Past, Present, and Future of Swarm Robotics
Cheraghi, A. R., Shahzad, S., & Graffi, K. (2021) · Lecture notes in networks and systems · doi:10.1007/978-3-030-82199-9_13 · Cited by 90 · see citing works
Modeling Group Formation and Activity Patterns in Self-Organizing Collectives of Individuals
Eftimie, R., de Vries, G., Lewis, M. A., & Lutscher, F. (2007) · Bulletin of Mathematical Biology · doi:10.1007/s11538-006-9175-8 · Cited by 86 · see citing works
Blind bulldozing: multiple robot nest construction
Parker, C. A. C., Zhang, H., & Kube, C. R. (2004) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2003.1248950 · Cited by 85 · see citing works
Self-citationThe I-SWARM Project: Intelligent Small World Autonomous Robots for Micro-manipulation
Seyfried, J., Szymanski, M., Bender, N., Estaña, R., Thiel, M., & Wörn, H. (2005) · Lecture notes in computer science · doi:10.1007/978-3-540-30552-1_7 · Cited by 82 · see citing works
Pheromone Robotics and the Logic of Virtual Pheromones
Payton, D. W., Estkowski, R., & Howard, M. (2005) · Lecture notes in computer science · doi:10.1007/978-3-540-30552-1_5 · Cited by 75 · see citing works
Cue-based aggregation with a mobile robot swarm: a novel fuzzy-based method
Arvin, F., Turgut, A. E., Bazyari, F., Arıkan, K. B., Bellotto, N., & Yue, S. (2014) · Adaptive Behavior · doi:10.1177/1059712314528009 · Cited by 75 · see citing works
Advances in Applied Self-organizing Systems
Prokopenko, M. (2007) · Advanced information and knowledge processing · doi:10.1007/978-1-84628-982-8 · Cited by 80 · see citing works
Fujisawa, R., Dobata, S., Sugawara, K., & Matsuno, F. (2014) · Swarm Intelligence · doi:10.1007/s11721-014-0097-z · Cited by 70 · see citing works
Evolution of Solitary and Group Transport Behaviors for Autonomous Robots Capable of Self-Assembling
Groβ, R., & Dorigo, M. (2008) · Adaptive Behavior · doi:10.1177/1059712308090537 · Cited by 70 · see citing works
Zhang, L., Sun, Y., Barth, A. L., & Ma, O. (2020) · IEEE Access · doi:10.1109/access.2020.3025287 · Cited by 72 · see citing works
Cooperative cargo transportation by a swarm of molecular machines
Akter, M., Keya, J. J., Kayano, K., Kabir, A. M. R., Inoue, D., Hess, H., Sada, K., Kuzuya, A., Asanuma, H., & Kakugo, A. (2022) · Science Robotics · doi:10.1126/scirobotics.abm0677 · Cited by 67 · see citing works
The NSB control: a behavior-based approach for multi-robot systems
Antonelli, G., Arrichiello, F., & Chiaverini, S. (2010) · Paladyn Journal of Behavioral Robotics · doi:10.2478/s13230-010-0006-0 · Cited by 67 · see citing works
Blackwell, T., & YOUNG, M. (2004) · Organised Sound · doi:10.1017/s1355771804000214 · Cited by 61 · see citing works
Evolving control for distributed micro air vehicles
Wu, A. S., Schultz, A. C., & Agah, A. (2003) · IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA) · doi:10.1109/cira.1999.810045 · Cited by 61 · see citing works
Transport of an object by six pre-attached robots interacting via physical links
Gross, R., Francesco Mondada, C., & Dorigo, M. (2006) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2006.1641891 · Cited by 59 · see citing works
A Comprehensive Overview of the Applications of Artificial Life
Kim, K.-J., & Cho, S. (2005) · Artificial Life · doi:10.1162/106454606775186455 · Cited by 57 · see citing works
Collective Robotic Site Preparation
Parker, C. A. C., & Zhang, H. (2006) · Adaptive Behavior · doi:10.1177/105971230601400101 · Cited by 55 · see citing works
Self-citationGroup Transport of an Object to a Target That Only Some Group Members May Sense
Groß, R., & Dorigo, M. (2004) · Lecture notes in computer science · doi:10.1007/978-3-540-30217-9_86 · Cited by 55 · see citing works
Classification of Multi-UAV Architectures
Maza, I., Ollero, A., Casado, E., & Scarlatti, D. (2014) · Springer eBooks · doi:10.1007/978-90-481-9707-1_119 · Cited by 54 · see citing works
Distributed control of simulated autonomous mobile robot collectives in payload transportation
Johnson, P. J., & Bay, J. S. (1995) · Autonomous Robots · doi:10.1007/bf00735438 · Cited by 54 · see citing works
Analyzing the Multiple-target-multiple-agent Scenario Using Optimal Assignment Algorithms
Kwok, K. S., Driessen, B. J., Phillips, C. A., & Tovey, C. A. (2002) · Journal of Intelligent & Robotic Systems · doi:10.1023/a:1020238115592 · Cited by 51 · see citing works
An emotion-based approach to robotics
Velasquez, J. D. (2003) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.1999.813010 · Cited by 51 · see citing works
An architecture for distributed cooperative planning in a behaviour-based multi-robot system
Jung, D., & Zelinsky, A. (1999) · Robotics and Autonomous Systems · doi:10.1016/s0921-8890(98)00066-9 · Cited by 51 · see citing works
Investigation of cue-based aggregation in static and dynamic environments with a mobile robot swarm
Arvin, F., Turgut, A. E., Krajník, T., & Yue, S. (2016) · Adaptive Behavior · doi:10.1177/1059712316632851 · Cited by 48 · see citing works
Trying to imitate-a step towards releasing robots from social isolation
Dautenhahn, K. (2005) · From Perception to Action Conference (PerAc) · doi:10.1109/fpa.1994.636112 · Cited by 48 · see citing works
Energy-Efficient Formation Morphing for Collision Avoidance in a Swarm of Drones
Yasin, J. N., Mohamed, S. A. S., Haghbayan, M.-H., Heikkonen, J., Tenhunen, H., Yasin, M. M., & Plosila, J. (2020) · IEEE Access · doi:10.1109/access.2020.3024953 · Cited by 44 · see citing works
Cooperative Transport of Objects of Different Shapes and Sizes
Groß, R., & Dorigo, M. (2004) · Lecture notes in computer science · doi:10.1007/978-3-540-28646-2_10 · Cited by 43 · see citing works
Multi-Robot Systems. From Swarms to Intelligent Automata Volume III
Parker, L. E., Schultz, A. C., & Schneider, F. E. (2005) · Springer eBooks · doi:10.1007/1-4020-3389-3 · Cited by 43 · see citing works
Self-organization in aggregating robot swarms: A DW-KNN topological approach
Khaldi, B., Harrou, F., Cherif, F., & Sun, Y. (2018) · Biosystems · doi:10.1016/j.biosystems.2018.01.005 · Cited by 42 · see citing works
Specialization in multi-agent systems through learning
Murciano, A., Millán, J. D. R., & Zamora, J. (1997) · Biological Cybernetics · doi:10.1007/s004220050351 · Cited by 40 · see citing works
Swarm Intelligence in Optimization and Robotics
Blum, C., & Groß, R. (2015) · Springer eBooks · doi:10.1007/978-3-662-43505-2_66 · Cited by 39 · see citing works
Imitation of Honeybee Aggregation with Collective Behavior of Swarm Robots
Arvin, F., Samsudin, K. B., Ramli, A. R., & Bekravi, M. (2011) · International Journal of Computational Intelligence Systems · doi:10.1080/18756891.2011.9727825 · Cited by 39 · see citing works
Phylogenetic and Ontogenetic Learning in a Colony of Interacting Robots
Agah, A., & Bekey, G. A. (1997) · Autonomous Robots · doi:10.1023/a:1008811203902 · Cited by 39 · see citing works
Duffy, B. R., Rooney, C., O’Hare, G. M. P., & O'Donoghue, R. (1999) · Research Repository UCD (University College Dublin) · Cited by 38 · see citing works
$\Phi$ Clust: Pheromone-Based Aggregation for Robotic Swarms
Arvin, F., Turgut, A. E., Krajník, T., Rahimi, S., Okay, İ. E., Yue, S., Watson, S., & Lennox, B. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8593961 · Cited by 37 · see citing works
SHARKEY, A. J. C. (2007) · Connection Science · doi:10.1080/09540090701584970 · Cited by 37 · see citing works
Design of the "army-ant" cooperative lifting robot
Bay, J. S. (1995) · IEEE Robotics & Automation Magazine · doi:10.1109/100.388293 · Cited by 37 · see citing works
Robot Awareness in Cooperative Mobile Robot Learning
Touzet, C. F. (2000) · Autonomous Robots · doi:10.1023/a:1008945119734 · Cited by 35 · see citing works
Swarm Robotics Behaviors and Tasks: A Technical Review
Majid, M. H. A., Arshad, M. R., & Mohd‐Mokhtar, R. (2021) · Studies in systems, decision and control · doi:10.1007/978-3-030-74540-0_5 · Cited by 33 · see citing works
From Ants to Robots and Back: How Robotics Can Contribute to the Study of Collective Animal Behavior
Garnier, S. (2011) · Studies in computational intelligence · doi:10.1007/978-3-642-20760-0_5 · Cited by 34 · see citing works
Sarker, M. O. F., Dahl, T. S., Arcaute, E., & Christensen, K. (2014) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2014.05.015 · Cited by 33 · see citing works
Emergence of Cooperation: State of the Art
Nitschke, G. (2005) · Artificial Life · doi:10.1162/1064546054407194 · Cited by 33 · see citing works
On the behavior-based architectures of autonomous agency
Mali, A. D. (2002) · IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews) · doi:10.1109/tsmcc.2002.804445 · Cited by 33 · see citing works
Task Modelling in Collective Robotics
Kube, C. R., & Zhang, H. (1997) · Springer eBooks · doi:10.1007/978-1-4757-6451-2_3 · Cited by 32 · see citing works
Self-citationLearning Signaling Behaviors and Specialization in Cooperative Agents
Murciano, A., & Millán, J. D. R. (1996) · Adaptive Behavior · doi:10.1177/105971239600500102 · Cited by 32 · see citing works
Evolving Behaviors for Cooperating Agents
Bassett, J. K., & Jong, K. A. D. (2000) · Lecture notes in computer science · doi:10.1007/3-540-39963-1_17 · Cited by 31 · see citing works
A dipole field for object delivery by pushing on a flat surface
Igarashi, T., Kamiyama, Y., & İnami, M. (2010) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2010.5509483 · Cited by 29 · see citing works
Blum, C. (2009) · Genetic and Evolutionary Computation Conference Companion (GECCO Companion) · doi:10.1145/1570256.1570405 · Cited by 29 · see citing works
Evolving a Cooperative Transport Behavior for Two Simple Robots
Groß, R., & Dorigo, M. (2004) · Lecture notes in computer science · doi:10.1007/978-3-540-24621-3_25 · Cited by 28 · see citing works
Patch Sorting: Multi-object Clustering Using Minimalist Robots
Melhuish, C., Wilson, M., & Sendova‐Franks, A. B. (2001) · Lecture notes in computer science · doi:10.1007/3-540-44811-x_62 · Cited by 27 · see citing works
Gillen, D. P., & Jacques, D. R. (2005) · Kluwer Academic Publishers eBooks · doi:10.1007/0-306-47536-7_6 · Cited by 27 · see citing works
Teamwork in Animals, Robots, and Humans
Anderson, C., & Franks, N. R. (2003) · Advances in the study of behavior · doi:10.1016/s0065-3454(03)33001-3 · Cited by 26 · see citing works
Analysis of local-camera-based shepherding navigation
Tsunoda, Y., SUEOKA, Y., Sato, Y., & Osuka, K. (2018) · Advanced Robotics · doi:10.1080/01691864.2018.1539410 · Cited by 25 · see citing works
The Entrapment/Escorting Mission for a Multi-Robot System: Theory and Experiments
Antonelli, G., Arrichiello, F., & Chiaverini, S. (2007) · IEEE/ASME International Conference on Advanced Intelligent Mechatronics · doi:10.1109/aim.2007.4412504 · Cited by 25 · see citing works
Collective search by mobile robots using alpha-beta coordination
Goldsmith, S. Y., & Robinett, R. D. (1998) · Lecture notes in computer science · doi:10.1007/bfb0033380 · Cited by 25 · see citing works
Stagnation recovery behaviours for collective robotics
Kube, C. R., & Zhang, H. (2002) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.1994.407603 · Cited by 25 · see citing works
Self-citationBio-Inspired Communication for Self-Regulated Multi-Robot Sytems
Sarker, M. O. F., & Dahl, T. S. (2011) · InTech eBooks · doi:10.5772/13104 · Cited by 24 · see citing works
Runtime models for automatic reorganization of multi-robot systems
Zhong, C., & DeLoach, S. A. (2011) · International Symposium on Software Engineering for Adaptive and Self-Managing Systems (SEAMS) · doi:10.1145/1988008.1988012 · Cited by 24 · see citing works
The CHOPIN project: Cooperation between human and rObotic teams in catastrophic incidents
Rocha, R. P., Portugal, D., Couceiro, M. S., Araújo, F., Menezes, P. J., & Lobo, J. (2013) · IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) · doi:10.1109/ssrr.2013.6719322 · Cited by 23 · see citing works
The Virtual Scylla: an exploration of “serious games”, artificial life and simulation complexity
Stone, R. J., White, D., Guest, R., & Francis, B. (2008) · Virtual Reality · doi:10.1007/s10055-008-0111-0 · Cited by 23 · see citing works
On the Fluid Dynamical Effects of Synchronization in Side-by-Side Swimmers
Godoy‐Diana, R., Vacher, J., Raspa, V., & Thiria, B. (2019) · Biomimetics · doi:10.3390/biomimetics4040077 · Cited by 23 · see citing works
Division of Labour in Self-organised Groups
Groß, R., Shervin Nouyan, A., Michael Bonani, C., Francesco Mondada, C., & Dorigo, M. (2008) · Lecture notes in computer science · doi:10.1007/978-3-540-69134-1_42 · Cited by 23 · see citing works
Cristina, V., & Gambardella, L. M. (1997) · Lecture notes in computer science · doi:10.1007/3-540-62934-3_40 · Cited by 23 · see citing works
- Authors
- Kube, C. R., & Zhang, H.
- Affiliations
- University of Alberta (CA)
- ORCID
- Hong Zhang
- Venue
- Adaptive Behavior
- Publisher
- SAGE Publications
- Published
- 1993-09
- Volume
- 2
- Issue
- 2
- Pages
- 189-218
- ISSN
- 1059-7123 (ISSN-L)
- 1741-2633
- OpenAlex
- W2013419160
- Cited by
- 338
- References
- 47
- Citations by year
- 2026: 8 · 2025: 3 · 2024: 7 · 2023: 8 · 2022: 6 · 2021: 13 · 2020: 9 · 2019: 3 · 2018: 17 · 2017: 6 · 2016: 10 · 2015: 11 · 2014: 12 · 2013: 12 · 2012: 11
- FWCI
- 7.70
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- Adaptive Behavior (publishedVersion)
- Topics
- Physical Sciences › Engineering › Mechanical Engineering › Modular Robots and Swarm Intelligence
- Physical Sciences › Computer Science › Computer Networks and Communications › Distributed Control Multi-Agent Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Control and Dynamics of Mobile Robots
- Keywords
- collective robotics, social insects, decentralized control, multi-robot systems, group behavior, swarm robotics, collaborative tasks, scalability, mobile robots
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
