Path Integration in a Swarm of Robots

Abstract

In this report I propose a method of navigation for differentially wheeled robots inspired by path integration in certain social insects like bees and ants. It is a very simple method, intended for use in low-tech robots with very limited hardware, such as swarm robots. Path integration is essentially dead reckoning as used by animals, calculating the relative position based on the movements made since the last known position. It is a tried and true method of navigation that also has significant flaws, especially in that inaccuracies accumulate and magnify over time. In this report I want to examine whether communication and information sharing between robots in a swarm can alleviate some of the drawbacks, and make it a viable method for navigation for swarm robots over relatively short distances.