Cluster-based Algorithm for Energy Optimization of Swarmed Robots using Swarm Intelligence

This paper presents the design of an intelligent energy efficient algorithm which is based on Swarm Intelligence to increase the life time of swarmed Robots. This algorithm represents a further advancing stage to our previous work which was devoted to cluster Wireless Sensor Networks (WSNs) into independent clusters. Our Algorithm presented in this research is mainly designed to keep the optimum distribution of clustered mobile Robots while those Robots are directed as a swarm to achieve a given goal. The algorithm presented in this research is suitable for large scale mobile Robots and provides a robust and energy- efficient communication mechanism. We are using the Particle Swarm Optimization (PSO) technique to decrease the energy consumption for the entire swarms. One of the main strengths in the presented algorithm is that the number of clusters within the swarm of Robots is not predefined, this gives more flexibility for the Robots' deployment in the swarm. Another strength is that the number of Robots assigned within each swarm is not necessary to be uniformly distributed as in other swarms, since in some applications constraints, the sensing Robots need to be deployed in different densities depending on the nature of the application.