Morphogenic inspired self-organization control of unmanned aerial swarm robots

A central issue in distributed formation of swarm is enabling agents with only a local view of their environment to take actions that advance global system objectives (emergence of collective behavior). This paper describes a bio-inspired control algorithm using pheromone for coordinating a swarm of identical flying agents to spatially self-organize into arbitrary shapes using local communication maintaining a certain level of density. Development of morphological features such as the fine formation of particles, hollow particles, cracks in particles, and the evolution of the structure are used as illustrative examples. Distributed formation of swarming with no coordinated agreement or positioning information is an interesting research area because the global behaviors must emerge from many diverse local interactions. Different from most existing distributed control, the proposed approach considers the topological structure of the organization, supports dynamic reconfiguration and self-organization. This paper presents the experimental results on simulating in the forming of arbitrary shape, and also describes a analytic aspect of our model comparing with behavioral performances.