Trophallaxis in robotic swarms - beyond energy autonomy

The paper considers trophallaxis in robot swarms, which is presented as a concept for resource sharing among individuals inspired by altruistic behaviour in natural populations. A number of elementary problems are identified, such as energy containment, robot morphology, rendezvous motion control and individual resource exchange behaviour. The CISSBot is presented as a design study as well as a proof of concept illustrating how a trophallactic exchange mechanism may be implemented based on batteries in commercially available form factor. A collison free proximity motion control is presented and illustrated by numerical simulation results. A probabilistic Markovian model including relevant effects; mobility, charging, battery exchange and energy consumption is presented and illustrated with numerical examples.