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Collective motion is one of the most fascinating phenomena observed in thenature. In the last decade, it aroused so much attention in physics, controland robotics fields. In particular, many studies have been done in swarmrobotics related to collective motion, also called flocking. In most of thesestudies, robots use orientation and proximity of their neighbors to achievecollective motion. In such an approach, one of the biggest problems is tomeasure orientation information using on-board sensors. In most of the studies,this information is either simulated or implemented using communication. Inthis paper, to the best of our knowledge, we implemented a fully autonomouscoordinated motion without alignment using very simple Mona robots. We used anapproach based on Active Elastic Sheet (AES) method. We modified the method andadded the capability to enable the swarm to move toward a desired direction androtate about an arbitrary point. The parameters of the modified method areoptimized using TCACS optimization algorithm. We tested our approach indifferent settings using Matlab and Webots.

Self-organized Collective Motion with a Simulated Real Robot Swarm