Simple foraging and random aggregation strategy for swarm robotics without communication.

The following proposes a strategy using a Mealy Deterministic Finite State Machine (DFSM) that switches between five states with two different algorithms. The Rebound avoider/follower strategy through proximity sensors, and the search blob/ePuck approach using the 2D image processing of the ePuck embedded camera.

Simulation is implemented on V-rep Pro Edu v3.6

Scenes (V-rep) folder contains:

• Simulation for 1 robot (Sim_1_Robot.ttt)
• Simulation for 5 robots (Sim_5_Robots.ttt)

Coursework project:

• University of Sheffield, UK.
• Course: ACS6121 - Robotics and Autonomous Systems
• Prof. Roderich Gross