Bioinspired cooperation in a heterogeneous robot swarm using ferrofluid artificial pheromones for uncontrolled environments

Juan Carlos Brenes-Torres, Cindy Calderón-Arce, Francisco Blanes, José Simo

Research output: Contribution to journalArticlepeer-review

Abstract

This article presents a novel bioinspired technology for the cooperation and coordination of heterogeneous robot swarms in uncontrolled environments, utilizing an artificial pheromone composed of magnetized ferrofluids. Communication between different types of robots is achieved indirectly through stigmergy, where messages are inherently associated with specific locations. This approach is advantageous for swarm experimentation outside controlled laboratory spaces, where localization is typically managed through centralized camera systems (e.g. infrared, RGB). Applying pheromone principles has also proven beneficial for various swarm behaviors. We introduce a detection methodology for the artificial ferrofluid pheromone using low-cost magnetic sensors, along with signal processing and parameter characterization. Experiments involved a heterogeneous swarm consisting of two types of robots: one equipped with camera and image processing capabilities and the other with basic sensor technologies. Validation in multiple uncontrolled environments (with varying floor surfaces, wind, and light conditions) demonstrated successful cooperation among robots with differing technological complexities using the proposed technology.

Original languageEnglish
JournalBioinspiration & biomimetics
Volume20
Issue number1
DOIs
StatePublished - 11 Nov 2024

Keywords

  • artificial pheromone
  • bionspiration
  • ferrofluid
  • heterogeneous robot swarm
  • robot cooperation
  • stigmergy

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