Improved Hormone-Inspired Model for Hierarchical Self-organization in Swarm Robotics

More and more robotic systems with lots of robotic individuals severs for human, such as intelligent terminal, intelligent storage, intelligence factory, etc. This is the trend of robotics technology, which will lead robotics system become huger with more individuals. Then, how to organize and manage this huge robotic system will be one important issue. This paper proposes hierarchical self-organizing approach to realize self-management, self-organization. Firstly, hierarchical self-organizing model is put forward and the process of formation is described in detail, which makes the organizing structure of system regularly. Secondly, this paper uses the improved hormone-inspired model (IHM) to establish relation between individuals, which considers topological structure of the organization, supports dynamic reconfiguration and self-organization, and requires no globally certain identifiers for individual robots. Finally, this paper presents the experimental results on swarm robotics system with a large scale of individuals to form a self-organization.