An interactive method for controlling group size in multiple mobile robot systems

This paper proposes a method of controlling group size in multi-robot systems with very limited computational abilities, such as micro- or nano-robots. The method is loosely modelled on the signalling behaviour of species such as crickets, frogs, and fireflies, where males attract females by making periodic calls or light flashes. A characteristic of such behaviour is that groups of animals broadcast their signals in synchrony, forming a chorus. In this paper, synchrony is used in conjunction with random deviations from synchrony in order to enable each individual to estimate the size of the group over a period of time; since an individual will approach a group of below the required size, and leave a group which is above that size, group size should remain around the target value. Results from simulations are presented which show that the mechanism is feasible; the development of a robotic system to use this method is described.