Traffic in cooperative consensus behavior of swarm robots

The problem of traffic redundancy in the cooperative and consistent behavior of swarm robots system is studied in this paper. Based on the existing flocking model and distributed controller with local interaction, the optimum communication frequency of swarm system is obtained by using particle swarm optimization. To further reduce the traffic among individuals two different methods to design evaluation value of the swarm's state are adopted, and then the communication frequencies are different with varying evaluation value. Simulation results show that the reduction of redundant communications system does not affect the cooperative consensus of swarm and the proposed communication strategies are effective.