A Review of the Consensus Achievement Strategies in the Context of Swarm Robotics

Swarm robotics applies swarm intelligence to robotics to solve real-life problems that cannot be solved by single, monolithic robots. This review first studies swarm robotics in depth and analyses the different types of tasks carried out by swarms of robots. Then, the consensus-achievement behaviour is elaborated on and its relation to the collective perception scenario is reviewed. The collective perception scenario is expounded in detail and the three discreet consensus-achievement strategies, namely the direct modulation of majority-based decision, direct modulation of voter-based decision, and direct comparison are discussed apropos of the collective perception scenario. This review then compares these strategies and explores their shortcoming such as the vulnerability to Byzantine robots.