What a Sunflower Can Teach a Robot? - Efficient Robot Queuing by Reverse Phyllotaxis.
Yaroslav Litus, Richard Vaughan · Artificial Life · 2010
We present a distributed multi-robot controller for forming spatially efficient queues of arbitrary numbers of robots. The method is formally analyzed and validated in a conventional robot simulation. This controller is based on sunflower phyllotaxis and inherits its efficient packing properties. Two measures of queue spatial efficiency are proposed and their upper bounds for the presented controller are found. The controller compares favorably with a simple line queueing and shows unexpectedly high tolerance to spatial interference between robots.