Self-swarming robots that exploit hydrodynamical interaction

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6 Citations (Scopus)


Although numerous swarm robotic systems have already been developed, they have exhibited limited adaptability. This was partly because the previous researchers designed the control schemes on the basis of informational interaction, without considering the physical effects of the environment. To tackle this problem, we employ an unconventional approach: we design a control scheme for swarm robots based on their physical interaction in a hydrodynamic field, inspired by biological swarming. Through simulations using a smoothed particle hydrodynamics method, we show that the proposed control scheme allows agents to form an ordered swarm in response to their environment.

Original languageEnglish
Pages (from-to)639-645
Number of pages7
JournalAdvanced Robotics
Issue number9
Publication statusPublished - 2014 May 3


  • biological swarming
  • hydrodynamic field
  • physical interaction
  • smoothed particle hydrodynamics method
  • swarm robot


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