Decentralized microrobot swarm communication via coupled oscillators

The present paper was inspired by some striking examples of communication between large numbers of individual insects, resulting in near-synchronous signaling by light flashes or sound signals. In the current study we applied this communication strategy to a large swarm of simulated micro-robots and evaluate the influence of several agent-based and swarm properties on the establishment of waves of synchronized signaling. Such waves emerge from the simultaneous signaling of agents in close proximity and are able to travel through the whole robot arena. By triggering such waves in a certain area, agents heading towards the wave front, will finally end up at the trigger area. In the current study we emphasize the investigation on the optimization of parameters most rapidly leading to sustained synchronization waves. Further, we also analyze the influence of signal fluctuations, obstacles and agent drop-out on wave propagation