Collective motion with direct and indirect communication

Eugene Kagan, Irad Ben-Gal

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review


This chapter considers general principles of direct and indirect communication between the mobile robots acting in group and the phenomena led by different types of communication. It presents an example of simple communication protocol, which implements the Mobile Ad Hoc Networking principles for communication between toy Lego NXT robots, and slight modification of this protocol for asynchronous communication in PAN, which supports flocking and preserving the robot’s group. Indirect communication between mobile robots in the group implies that the robots change the environmental states and they act with respect to these changes. In the case of combined communication, the robots communicate both directly using certain protocol and indirectly via environmental changes. The chapter also presents two examples of the collective behavior of the mobile robots with indirect and combined communication. The first example addresses the pheromone robotic system by simulating collective motion of ants, and the second example considers the model of biosignaling.

Original languageEnglish
Title of host publicationAutonomous Mobile Robots and Multi-Robot Systems
Subtitle of host publicationMotion-Planning, Communication, and Swarming
EditorsEugene Kagan, Nir Shvalb, Irad Ben-Gal
Number of pages32
ISBN (Electronic)9781119213154, 9781119213178, 9781119213161
ISBN (Print)9781119212867
StatePublished - 6 Sep 2019


  • Collective motion
  • Combined communication
  • Communication protocol
  • Direct communication
  • Environmental changes
  • Indirect communication
  • Lego NXT robots
  • Mobile ad hoc networking principles
  • Mobile robots
  • Pheromone robotic system


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