Multi-robot systems and swarming

Eugene Kagan, Nir Shvalb, Shlomi Hacohen, Alexander Novoselsky

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

7 Scopus citations


This chapter provides an introduction into collective behavior in multi-robot systems. In particular, it considers different types of communication and control in multi-agent systems, basic flocking rules, and general methods of aggregation and collision avoidance. The control level considers the roles of the agents in the decision-making process. While considering the multi-agent systems consisting of the mobile robots, the main problem is the problem of navigation of the robots such that it provides a desired motion the swarm. The desired motion of swarm can be obtained as a result of the planned motions of the robots, or, by contrast, the motion of each swarm mate is obtained autonomously with respect to the planned motion of the swarm. The chapter also considers the main principles of swarming and the methods of their implementation based on the attraction and repulsion potential functions.

Original languageEnglish
Title of host publicationAutonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication, and Swarming
Subtitle of host publicationMotion-Planning, Communication, and Swarming
Number of pages43
ISBN (Electronic)9781119213178
StatePublished - 6 Sep 2019


  • Aggregation functions
  • Centralized control
  • Collision avoidance techniques
  • Distributed control
  • Flocking rules
  • Multi-robot systems
  • Swarming


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