Leader election algorithms for static swarms

Abstract

Work solutions are proposed for problems of leader definition and role distribution in homogeneous groups of robots. It was shown that transition from a swarm to a collective of robots with hierarchical organisation is possible using exclusively local interaction. The local re-voting algorithm is central to the procedure for choice of leader while distribution of roles can be achieved by a wave method. The basis for this approach is the static swarm model characterised by the absence of a set control centre; it represents the network fixed at some time interval as a set of locally interacting agents. A task of cooperative hunting by distributed mobile robots based on local interaction was considered. Two strategies were used for the hunting task solution: individual hunting and pack-hunting. Simulation results showed that symbiosis of leader election and role distribution procedures has advantages over the individual strategy.