Abstract   In  swarm robotics , it is necessary to develop methods and strategies that guide the collective execution of tasks by the robots. The design of such tasks can be done considering it as a collection of simpler behaviors, called  subtasks . In this paper, the  Wave Swarm  is presented as a general strategy to manage the sequence of subtasks that compose the  collective navigation , which is an important task in swarm robotics. The proposed strategy is based mainly on the execution of wave algorithms. The swarm is viewed as a distributed system, wherein the communication is achieved by message passing among robot's neighborhood. Message propagation delimits the start and end of each subtask. Simulations are performed to demonstrate that controlled navigation of robot swarms/clusters is achieved with three subtasks, which are recruitment, alignment and movement.
['Luneque Silva Junior', 'Nadia Nedjah']
Efficient Strategy for Collective Navigation Control in Swarm Robotics