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Designing and controlling the collective behavior of a swarm often requires complex range, bearing sensors, and peer-to-peer communication strategies. Recent work studying swarm of robots that have no computational power has shown that complex behaviors such as aggregation and object clustering can be produced from extremely simple control policies and sensing capability. We extend previous work on computation-free swarm behaviors and show that it is possible to evolve simple control policies to form a perimeter around a target, rendezvous to a specific location, and perform foraging. We also demonstrate that simple manipulations of the environment can be used to control, these collective behaviors. The robustness and expressiveness of these behaviors, combined with the simple requirements for control and sensing, demonstrate the feasibility of implementing swarm behaviors at small scales or in extreme environments.

Evolving and Controlling Perimeter, Rendezvous, and Foraging Behaviors in a Computation-Free Robot Swarm