Distributed Self-organized Collective Motion Control with Layered Structure for Robot Swarm

This paper addresses a distributed self-organized collective motion control for robot swarms to escape large-sized concave obstacles and corridors in unknown environments. Based on the wall-following navigation strategy in our previous work, we develop a novel layered structure enabling any robot swarms to achieve cohesive and aligned motion, thus eradicating motion disorientation and local minimum problems. The proposed method is examined and evaluated in simulation with concave obstacles and corridors.