Abstract:
Swarm robotics is a well-evolved research area
over the past couple of decades. In this paper, we introduce a
framework for programming swarm robots in a novel approach
based on behaviour categorization, pheromone communication,
and state representation. The framework is packaged with a set
of well defined and tested behaviours that are structured based on
the level of interactions between robots. These behaviours can be
combined and integrated into the user code when implementing
new behaviours. Robots function in a user-defined state and perform
actions attributed to that state. We have used a behaviourbased
bottom-up design approach for designing these behaviours
which eventually alleviate the debugging and implementation
process. The efficacy of our work is validated using results
obtained from a custom-built simulation platform. These results
include tests involving an random movement behaviour, an
object finding behaviour, and implementation of an aggregation
behaviour.
