Analysis of long-term swarm performance based on short-term experiments

Yara Khaluf*, Mauro Birattari, Franz Rammig

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

11 Citations (Scopus)


Swarm robotics is a branch of collective robotics systems that offers a set of remarkable advantages over other systems. The global behavior of swarm systems emerges from the local rules implemented at the individual level. Therefore, characterizing a global performance obtained at the swarm level is one of the main challenges, especially under complex dynamics such as spatial interferences. In this paper, we exploit the central limit theorem to analyze and characterize the swarm performance over long-term deadlines. The developed model is verified on two tasks: a foraging task and an object filtering task.

Original languageEnglish
Pages (from-to)37-48
Number of pages12
JournalSoft Computing
Issue number1
Publication statusPublished - 1 Jan 2016
Externally publishedYes


  • Central limit theorem
  • Swarm robotics
  • Time-constrained tasks


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