Robotic Swarm Segregation

A robotic swarm is a particular type of multi-robot system that employs a large number of simple agents in order to cooperatively perform different types of tasks. In this context, a topic that has received much attention in recent years is the concept of segregation. This concept is important, for example, in tasks that require maintaining robots with similar features or objectives arranged in cohesive groups, while robots with different characteristics remain separated on their own groups. In this project, we have developed approaches that combine the Optimal Reciprocal Collision Avoidance (ORCA) algorithm with different agent coordination strategies to allow the segregation of robots that are randomly distributed by the workspace or to perform the segregated navigation of swarms formed by different groups of robots.