Self-organised Aggregation in Swarms of Robots with Informed Robots

Student thesis: Doc typesDoctor of Sciences


We introduced the concept of informed robots in the context of self-organised aggregation, and we studied how informed robots impact the aggregation dynamics. Informed robots are members of the swarm that have been informed a priori about the aggregation site to stop on, in an environment that offers multiple sites for aggregation. Apart from the preference on the site on which to aggregate, the behaviour of informed robots will be controlled by exactly the same mechanisms of non-informed robots. The roles of informed robots is to influence the aggregation dynamics, in a very indirect way, since none of the robots has any means to discriminate informed from non-informed robots.
Date of Award9 May 2023
Original languageEnglish
Awarding Institution
  • University of Namur
SupervisorElio Tuci (Supervisor) & Eliseo Ferrante (Co-Supervisor)


  • Swarm robotics
  • Aggregation
  • self-organization
  • informed individuals
  • Informed robots

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