A Virtual Viscoelastic Based Aggregation Model for Self-organization of Swarm Robots System

We report a bio-inspired control model to dynamically self-organize a swarm robots system into unplanned patterns emerged through an aggregation method based upon using virtual viscoelastic links among the K-nearby robots. By varying this neighbourhood relationship, virtual viscoelastic links are dynamically created and destroyed between the robots and their sensed neighbours. Based on the equilibrium between these virtual links, the model can distribute the robots at equal angular configurations of the emergent shape being formed. A forward dependent angular motion control is designed to control at which speeds the robots are moving. The model is implemented and tested using the ARGoS simulator where many emerged self-organized configurations are formed showing the effectiveness of the model.