Swarm Robots with Queue Organization Using Infrared Communication

This paper describes the implementation of a swarm of E-Puck robots with autonomous behavior of queue via a communication process that uses the infrared sensors of the robots. Each robot has the ability to identify other robots in seeking a collective formation of queue. Everyone can identify and avoid obstacles in the environment while maintaining the collective queue organization. A digital filter was implemented to inhibit the effects of external light interference during the measurements done by the infrared sensors. The project was implemented in the Webots prototyping software, while thoroughly and physically tested on a swarm of E-Puck robots. The tests proved the efficiency of the implementation to yield the expected behavior. We included in this paper the observed behaviors during the testing process with the robots.