Decentralized control scheme for swarm robots with self-sacrifice

Takeshi Kano, Munehiro Asally, Akio Ishiguro

Research output: Contribution to conferencePaperpeer-review


Altruistic behaviors, such as self-sacrifices, are commonly observed in diverse living systems from bacteria to animal societies. Motivated by the fact that self-sacrifices of individuals can benefit the entire populations, we developed a decentralized control scheme with self-sacrifice by extending the Slimebot model. When an agent is not performing favorably, the agent self-sacrifices by stopping the motion and transferring its energy to nearby agents. We demonstrate via simulations that the proposed control scheme enables the agents to perform tasks effectively under several environments.

Original languageEnglish
Number of pages2
Publication statusPublished - 2020
Event2018 Conference on Artificial Life: Beyond AI, ALIFE 2018 - Tokyo, Japan
Duration: 2018 Jul 232018 Jul 27


Conference2018 Conference on Artificial Life: Beyond AI, ALIFE 2018


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