REMOVING DEGENERACY FROM SWARM-MEDIATED CLUSTER-BASEDCONSTRUCTION

ABSTRACTIn this paper we design swarm clustering algorithm to build, move and place clusters of building materials on thedesired place on 2 D plane. Such algorithm consists of threephases: building clusters, moving them radially and then orbitally. We present an example that demonstrates desiredcluster placement. In particular, it is shown that with proposed algorithm capable of building clusters, moving andplacing them with respect to each other in accordance with given requirements. KEY WORDSswarm engineering, cluster, puck, agent. 1 Introduction There are, in the natural world, swarms of insects whichhave evolved over long periods of time and which possess the capability to construct large structures, many timeslarger than the individual insect in the swarm. Such structures can range in design from those with remarkable regu-larity, such as honeycombs of bees and wasps, to the somewhat irregular structures of termites, ants, or communalspiders. Swarms in the natural world are not only capable of building the homes in which they live, but they alsointeract with them, providing repair services when needed. Moreover, the swarms ' homes can be constructed in sucha way that the swarm can use them to maintain atmospheric conditions with a control that rivals systems builtby Mankind. The abilities of these insect swarms have promptedscientists to propose the design of agent-based systems that carry out similar tasks. Such systems would enjoy many ofthe same benefits one finds in the natural world