Boundary Detection in a Swarm of Kilobots.

Yingyi Kuang, Yuri Kaszubowski Lopes, Roderich Groß

Abstract: This paper presents a distributed boundary detection method for a swarm of robots. It employs the cyclic-shape algorithm together with a local coordinate identification, thereby allowing boundary detection without bearing measurements. Each robot can communicate with, and estimate the distance to, its neighbouring robots. The method is validated using swarms of up to 45 Kilobot robots.