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This paper describes a clustering process taking inspiration from the cemetery organization of ants. The goal of this paper is (i) to show the importance of the local interactions which allow to produces complex and emergent behavior. (ii) To propose a multi-robot systems in the field of clustering objects allowing optimization of: time of convergence, rate of occupation of the objects in the environment and final number of the clusters. And finally (iii) to propose another system with the use of cognitive robots instead of reactive robots in the same field of clustering objects with generic rules which can be used independently of the environment. Series of simulations enable us to discuss and validate the proposed approach.