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The collective perception scenario is an established swarm robotics task in which robots collectively infer a globally distributed environmental feature. The scenario is the most cited benchmark for collective decision-making in swarm robotics and has a 10-year history. Many variants of the original scenario have been proposed and studied. Many methods of collective decision-making have been tested against it. Given that the scenario was not initially intended as the defining benchmark, we summarize and analyze the literature and discuss the benefits and potential risks of a monoculture in benchmarking. We give a perspective on what could and should be improved in the future.

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Ten Years of the Collective Perception Benchmark in Swarm Robotics: Achievements and Challenges

  • 会议论文

  • 发表日期：

    2026年

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  • Heiko Hamann,
  • Andreagiovanni Reina

摘要

The collective perception scenario is an established swarm robotics task in which robots collectively infer a globally distributed environmental feature. The scenario is the most cited benchmark for collective decision-making in swarm robotics and has a 10-year history. Many variants of the original scenario have been proposed and studied. Many methods of collective decision-making have been tested against it. Given that the scenario was not initially intended as the defining benchmark, we summarize and analyze the literature and discuss the benefits and potential risks of a monoculture in benchmarking. We give a perspective on what could and should be improved in the future.