Swarm Behaviors

ROS2swarm includes a library of swarm behaviors that are separated into movement patterns for robot motion and voting patterns for collective decision-making. Every pattern can either be a basic pattern (i.e., basic building blocks) or a combined pattern (i.e., using one or more patterns to create a more complex behavior).

The different patterns may have requirements regarding the sensory setup to be executable. We summarize the existing patterns as well as their requirements in the following table.

Pattern	Domain	Type	Simulation	Robot	Sensor Requirements
aggregation	Movement	Basic	x	x	LiDAR or IR
attraction	Movement	Basic	x	x	LiDAR or IR
attraction2	Movement	Basic	x	x	LiDAR or IR
dispersion	Movement	Basic	x	x	LiDAR or IR
drive	Movement	Basic	x	x
magnetometer	Movement	Basic		x
minimalist flocking	Movement	Basic	x	x	LiDAR or IR
random walk	Movement	Basic	x	x
discussed dispersion pattern	Movement	Combined	x	x	LiDAR or IR
voter model	Voting	Basic	x	x
majority rule	Voting	Basic	x	x

To set a specific pattern in the launch script, specify pattern := *pattern_name*_pattern as a parameter, e.g. to launch the random walk pattern, you have to set pattern to random_walk_pattern.