Lattice-based artificial endocrine system model and its application in robotic swarms

To solve the problem of controlling robot swarms in a distributed manner, we propose a novel lattice-based artificial endocrine system (LAES) model, inspired by modern endocrinology theory. Based on a latticed environment, relying on cell intelligentization, connected by cumulative hormones, and directed by target cells, the LAES model can finally adapt to the continuous volatility of the external environment and maintain the relevant stability of the internal dynamics of the system, thus exhibiting the self-organizing and self-repairing features of the biological endocrine system. Experiments show that the LAES model enables a robotic swarm to search an unfamiliar space and seize multiple targets automatically without using unique global identifiers or a centralized control strategy for the individual robots. This demonstrates that the model can reliably be used to simulate large scale swarm behavior through wireless communication.