Mobile Robot Navigation with Swarm Intelligence using a Decentralized Strategy

Collective navigation of swarm robots is one of the most topical problems in the field of robotics. In this context, more than one robot must have the ability to simultaneously perform different tasks in a certain coordination and plan. In the solution of the related problem, it has been tried to ensure that the robots communicate and move in coordination over a central communication architecture. The most important handicap of central architectures is that the communication mechanism of the whole system collapses in case the related unit fails because the system is connected to a single unit. In this context, a novel decentralized architecture has been implemented and tested for physical robots. Several experiments have been conducted to verify the performance of the proposed architecture.