An RSS-based method for path navigation in miniature robotic swarms

Document Type


Publication Date



Swarm robots are designed with very limited sensing and computing capabilities to reduce the robots’ cost without sacrificing their functionality. These limited capabilities make it necessary to develop algorithms and methodologies to enable the robots to perform tasks such as tracking, following, or even navigating a path. This paper addresses the particular problem of a robot navigating a path specified by stationary beacon robots. We suggest a method that combines the radio signal strength with trigonometry to achieve an effective path navigation methodology. The performance analysis shows that the robot travels on average (1.5N + 1) segments to complete a path lined up by N beacons as opposed to 2.5N segments when using the traditional tracking algorithm.