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Collective Decision Making in a Swarm of Robots: How Robust the BEECLUST Algorithm Performs in Various Conditions

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Academic year: 2020

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Figure

Figure 1: e-puck with the extension board (on top) and a temperature sensor (at the left side slightly aboveground).
Figure 2: Experimental Setup of the arena and the corresponding heatmap.
Figure 3: The figure shows the setup of the socialseed.Left:local optimum area with a social seed(immobilised robot).Right:global optimum areawith a dummy robot to ensure similar circumstancesof the two optima areas.
Figure 8: Median number of robots in the two areas.Left: Impaired sensor experiment with 3 fully func-tional and 7 impaired robots

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