Distributed Shortest-Path Finding by a Micro-robot Swarm

This paper describes a distributed algorithm for solving the shortest path problem with a swarm of JASMINE micro-robots. Each robot is only connected via infra-red communication with its neighbours. Based on local information exchange and some simple rules the swarm manages to find the shortest path (shortest path in the number of robots on the path) in a labyrinth with dead-ends and cycles. The full algorithm and simulation results are presented in this paper.