OptiSwarm: A Novel Topological Hybrid Architecture in Swarm Robotics
8th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, ICHORA 2026, Ankara, Türkiye, 21 - 23 Mayıs 2026, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/ichora69329.2026.11537198
- Basıldığı Şehir: Ankara
- Basıldığı Ülke: Türkiye
- Anahtar Kelimeler: Distributed Swarm System, SelfOrganizing Swarm Architecture, Swarm Intelligence, Swarm Robotics
- İnönü Üniversitesi Adresli: Evet
Özet
Swarm Robotics is a dynamic system composed of groups of robots that operate cooperatively, inspired by collective behaviors observed in nature. Research in this field focuses on understanding how collective behaviors, coordination mechanisms, decision-making processes, and effective communication methods can be optimized. In order to enable the practical implementation of algorithms designed to perform specific tasks within a swarm, it is necessary for each individual agent to operate on a well-defined topological swarm architecture that organizes inter-agent communication and ensures coherent integration of the algorithms. Within the scope of this study, a novel swarm architecture is proposed to serve as an underlying infrastructure for existing algorithms in swarm robotic systems. Two distinct operational architectures - centralized and decentralized - have been designed within the proposed swarm architecture. In the centralized architecture, a command-and-control center is responsible for managing the robots and coordinating task allocation. In contrast, the decentralized architecture enables self-organization among the robots, thereby minimizing both computational cost and dependence on a command-and-control center.