Journal of Frontiers of Computer Science and Technology ›› 2022, Vol. 16 ›› Issue (8): 1706-1726.DOI: 10.3778/j.issn.1673-9418.2201057

• Surveys and Frontiers • Previous Articles     Next Articles

Survey on Modeling Method of Spatial Cooperative Behavior of Swarm Robots

ZHAO Yue, SHEN Bo(), WU Wenliang, ZHOU Xingshe   

  1. School of Computer Science and Engineering, Northwestern Polytechnical University, Xi’an 710129, China
  • Received:2022-01-18 Revised:2022-04-01 Online:2022-08-01 Published:2022-08-19
  • About author:ZHAO Yue, born in 1986, Ph.D. candidate. Her research interest is the evaluation of swarm intelligence.
    SHEN Bo, born in 1985, Ph.D., associate professor. His research interests include cyber-physical systems, Internet of things, etc.
    WU Wenliang, born in 1989, Ph.D. candidate. His research interest is the evaluation of swarm intelligence.
    ZHOU Xingshe, born in 1955, professor,Ph.D. supervisor. His research interests include embedded computing and distributed computing, cyber-physical systems, etc.
  • Supported by:
    the National Science and Technology Innovation Special Zone Project;the National Natural Science Foundation of China(61902295)


赵月, 沈博(), 武文亮, 周兴社   

  1. 西北工业大学 计算机学院,西安 710129
  • 通讯作者: +E-mail:
  • 作者简介:赵月(1986—),女,博士研究生,主要研究方向为群体智能评价。
  • 基金资助:


Swarm robots are composed of a certain number of physical robots. Through interaction and cooperation, individuals in this kind of system can sprout robust, scalable and flexible swarm intelligence behavior. Behavior modeling of swarm robots is one of the basic methods for scientific analysis of such systems, and it is also an important basis for its capability evaluation. The research and analysis of behavior model of swarm robots is helpful to understand its behavior mechanism. Firstly, this paper summarizes the main characteristics of swarm robots, and lists and summarizes several typical spatial cooperation behaviors of swarm robots. On this basis, the spatial cooperation behavior of swarm robots is classified, and the modeling methods of spatial cooperation behavior of cluster robots are summarized and expounded, including graph theory, bionic model, dynamic model and learning model. Various modeling methods are analyzed and compared from the multi-dimensional aspects of method overview, application examples and applicable scenes. Finally, the problems of spatial cooperative behavior modeling of swarm robots to be further studied are put forward, and possible research directions in the future are prospected, so as to better support the evaluation and optimization design of swarm robots. The purpose of this paper is to enable relevant researchers to comprehensively and systematically understand the spatial cooperative behavior modeling method of swarm robots.

Key words: swarm robots, swarm behavior, modeling method, bionic model, learning model



关键词: 集群机器人, 群体行为, 建模方法, 仿生模型, 学习模型

CLC Number: