RepAtt: Achieving Swarm Coordination through Chemotaxis

Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for improving coordination of a robot swarm by selectively broadcasting repulsion and attraction signals. Robots use a chemotaxis-inspired search behaviour based on the temporal gradients of these signals in order to navigate towards more advantageous areas. Hardware experiments were used to model and validate realistic, noisy sound communication. We then show through extensive simulation studies that our chemotaxis-based coordination algorithm significantly improves swarm foraging time and robot efficiency.