Abstract
In high-stress situations, guiding a non- communicating, location-unaware swarm to the safe area is challenging, especially as they self-organize into clusters with nearby agents. This paper presents a novel decentralized non-interacting swarm algorithm to form guided swarm clusters autonomously in an area without nearby danger, termed as “safe area”. The proposed strategy guides the swarm of robots towards safe area to form self-clusters in a bounded environment. It is achieved by fixing the locations of static obstacles which prevents cluster formation in the danger area. We evaluate the performance based on cluster formation in the safe area. The Monte-Carlo simulations are performed with varying percentage occupancy of obstacles in danger area, where we achieved percentage of convergence (PoC) in safe area over 85% (on an average). The proposed algorithm potentially find its application in a crowded environment, while evacuating to a safer area during emergency.