Adaptive foraging for simulated and real robotic swarms: The dynamical response threshold approach

Castello, E., Yamamoto, T., Liu, W., Winfield, A. F., Nakamura, Y. and Ishiguro, H. (2016) Adaptive foraging for simulated and real robotic swarms: The dynamical response threshold approach. Swarm Intelligence, 10 (1). pp. 1-31. ISSN 1935-3812 Available from:

PDF - Accepted Version
Available under License All Rights Reserved.


Publisher's URL:


Developing self-organised swarm systems capable of adapting to environmental changes as well as to dynamic situations is a complex challenge. An efficient labour division model, with the ability to regulate the distribution of work among swarm robots, is an important element of this kind of system. This paper extends the popular response threshold model and proposes a new adaptive response threshold model (ARTM). Experiments were carried out in simulation and in real-robot scenarios with the aim of studying the performance of this new adaptive model. Results presented in this paper verify that the extended approach improves on the adaptability of previous systems. For example, by reducing collision duration among robots in foraging missions, our approach helps small swarms of robots to adapt more efficiently to changing environments, thus increasing their self-sustainability (survival rate). Finally, we propose a minimal version of ARTM, which is derived from the conclusions drawn through real-robot and simulation results.

Item Type:Article
Additional Information:The final publication is available at Springer via​1007/​s11721-015-0117-7
Uncontrolled Keywords:adaptive foraging, cooperative behaviour, autonomous systems
Faculty/Department:Faculty of Environment and Technology
ID Code:27617
Deposited By: Professor A. Winfield
Deposited On:07 Jan 2016 09:33
Last Modified:03 Jan 2017 17:51

Request a change to this item

Total Document Downloads in Past 12 Months

Document Downloads

Total Document Downloads

More statistics for this item...