Swarm Robots' Communication and Cooperation in Motion Planning

This paper focuses on swarm communication and how swarm robot individuals communicate with each other. By imitating swarms in nature, we can develop many features for swarm robots depending on the working environment, size of the robot, the number of individuals and the available budget. We researched on the development of our low budget swarm robot project's communication solution using HM-10 Bluetooth modules. In addition, we also studied about several basic tasks in swarm robotics: synchronize information, calculate individuals' position in the workspace, path planning and cooperate to solve many complicated tasks. To demonstrate swarm robot's main tasks-space, we decided to use a group of two RP6 robots. Although they are completed built robots and cannot be minimized in the size or simplified in the structure, they still have various free ports and connections so that we can attach extensions or sensors to solve some basic swarm robotics problems.