Chemotaxis Based Virtual Fence for Swarm Robots in Unbounded Environments
This addresses the challenge of swarm containment in robotics for applications like exploration, but it is incremental as it adapts a known biological behavior to a specific domain.
The paper tackled the problem of keeping swarm robots near a work area in unbounded environments using a chemotaxis-based virtual fence, and results showed it effectively maintained proximity to stationary and moving nests with competitive performance compared to boundary walls.
This paper presents a novel swarm robotics application of chemotaxis behaviour observed in microorganisms. This approach was used to cause exploration robots to return to a work area around the swarm's nest within a boundless environment. We investigate the performance of our algorithm through extensive simulation studies and hardware validation. Results show that the chemotaxis approach is effective for keeping the swarm close to both stationary and moving nests. Performance comparison of these results with the unrealistic case where a boundary wall was used to keep the swarm within a target search area showed that our chemotaxis approach produced competitive results.