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A swarm aggregation algorithm for multi-robot systems based on local interaction

In this work, a swarm aggregation algorithm for multi-robot systems based on local interaction is proposed. In the considered framework, a swarm of robots is moving within an outdoor environment according to the guidance commands issued by a remote control station. Robots, which are responsible for the execution of the guidance commands, are required to show a cohesive behavior through local interactions. A theoretical validation of the swarm interaction modeling is given. Simulations along with experimental results carried out by exploiting a Kinect® -based remote control system are provided to corroborate the theoretical results.