Power-law distribution of long-term experimental data in swarm robotics

Bio-inspired aggregation is one of the most fundamental behaviours that has been studied in swarm robotic for more than two decades. Biology revealed that the environmental characteristics are very important factors in aggregation of social insects and other animals. In this paper, we study the effects of different environmental factors such as size and texture of aggregation cues using real robots. In addition, we propose a mathematical model to predict the behaviour of the aggregation during an experiment