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Collective Motion (CM) is a basic phenomenon observed in nature, such as in birds, insects, and schooling fish. In swarm robotics, virtual links among the swarm members generate attractive and repulsive forces to attain self-organised CM behaviour. However, their manoeuvre in a cluttered environment can be challenging. Therefore, this study demonstrated the implementation of an Optimised Collective Motion (OCM) model with a Leader-Follower method to steer the swarm towards a desired position and improve its mobility. Two environmental configurations were designed to evaluate the swarm navigation while avoiding obstacles. Numerical simulations on MATLAB showed a significant performance, attaining 99% of the swarm rapidly converge while maintaining the formation cohesiveness.

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A Leader-Follower Collective Motion in Robotic Swarms

  • 会议论文

  • 发表日期：

    2025年

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  • Mazen Bahaidarah,
  • Ognjen Marjanovic,
  • Fatemeh Rekabi-bana,
  • Farshad Arvin

摘要

Collective Motion (CM) is a basic phenomenon observed in nature, such as in birds, insects, and schooling fish. In swarm robotics, virtual links among the swarm members generate attractive and repulsive forces to attain self-organised CM behaviour. However, their manoeuvre in a cluttered environment can be challenging. Therefore, this study demonstrated the implementation of an Optimised Collective Motion (OCM) model with a Leader-Follower method to steer the swarm towards a desired position and improve its mobility. Two environmental configurations were designed to evaluate the swarm navigation while avoiding obstacles. Numerical simulations on MATLAB showed a significant performance, attaining 99% of the swarm rapidly converge while maintaining the formation cohesiveness.