Internal agent states: experiments using the swarm leader concept

Mohamed H. Mabrouk, Craig W. Murray, Kevin Johnstone, Colin R. McInnes

Research output: Contribution to conferencePaperpeer-review

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In recent years, an understanding of the operating principles and stability of natural swarms has proven to be a useful tool for the design and control of artificial robotic agents. Many robotic systems, whose design or control principals are inspired by behavioural aspects of real biological systems such as leader-follower relationship, have been developed. We introduced an algorithm which successfully enhances the navigation performance of a swarm of robots using the swarm leader concept. This paper presents some applications based on that work using the simulations and experimental implementation using a swarming behaviour test-bed at the University of Strathclyde. Experimental and simulation results match closely in a way that confirms the efficiency of the algorithm as well as its applicability.
Original languageEnglish
Number of pages7
Publication statusPublished - 1 Sep 2008
EventTowards Autonomous Robotic Systems (TAROS 08) - Edinburgh, Scotland
Duration: 1 Sep 20083 Sep 2008


ConferenceTowards Autonomous Robotic Systems (TAROS 08)
CityEdinburgh, Scotland


  • internal agent states
  • swarm leader
  • navigation systems
  • artificial robotic agents


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