{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,30]],"date-time":"2025-10-30T07:04:23Z","timestamp":1761807863838},"reference-count":46,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2014,4,7]],"date-time":"2014-04-07T00:00:00Z","timestamp":1396828800000},"content-version":"unspecified","delay-in-days":37,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2014,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>The use of large groups of robots in the execution of complex tasks has received much attention in recent years. Generally called robotic swarms, these systems employ a large number of simple agents to perform different types of tasks. A basic requirement for most robotic swarms is the ability for safe navigation in shared environments. Particularly, two desired behaviors are to keep robots close to their kin and to avoid merging with distinct groups. These are respectively called cohesion and segregation, which are observed in several biological systems. In this paper, we investigate two different approaches that allow swarms of robots to navigate in a cohesive fashion while being segregated from other groups of agents. Our first approach is based on artificial potential fields and hierarchical abstractions. However, this method has one drawback: It needs a central entity which is able to communicate with all robots. To cope with this problem, we introduce a distributed mechanism that combines hierarchical abstractions, flocking behaviors, and an efficient collision avoidance mechanism. We perform simulated and real experiments to study the feasibility and effectiveness of our methods. Results show that both approaches ensure cohesion and segregation during swarm navigation.<\/jats:p>","DOI":"10.1017\/s0263574714000563","type":"journal-article","created":{"date-parts":[[2014,4,7]],"date-time":"2014-04-07T05:00:07Z","timestamp":1396846807000},"page":"209-223","source":"Crossref","is-referenced-by-count":11,"title":["Cohesion and segregation in swarm navigation"],"prefix":"10.1017","volume":"32","author":[{"given":"Vinicius Graciano","family":"Santos","sequence":"first","affiliation":[]},{"given":"Luiz","family":"Chaimowicz","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2014,4,7]]},"reference":[{"key":"S0263574714000563_ref7","first-page":"1520","volume-title":"Proceedings of the 42nd IEEE Conference on Decision and Control","author":"Belta","year":"2003"},{"key":"S0263574714000563_ref31","first-page":"1398","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Koren","year":"1991"},{"key":"S0263574714000563_ref38","doi-asserted-by":"crossref","first-page":"227","DOI":"10.1007\/978-3-7091-4433-6_26","volume-title":"Advances in Robot Kynematics","author":"de Medio","year":"1991"},{"key":"S0263574714000563_ref32","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2010.2040494"},{"key":"S0263574714000563_ref36","first-page":"397","volume-title":"Proceedings of the 6th IFAC Symposium on Robot Control","author":"Luca","year":"2000"},{"key":"S0263574714000563_ref24","volume-title":"Proceedings of the 6th International Symposium on Distributed Autonomous Robotic Systems","author":"Howard","year":"2002"},{"key":"S0263574714000563_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TIT.1983.1056714"},{"key":"S0263574714000563_ref14","first-page":"147","volume-title":"Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2012)","author":"Claes","year":"2012"},{"key":"S0263574714000563_ref9","first-page":"1928","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"van den Berg","year":"2008"},{"key":"S0263574714000563_ref42","doi-asserted-by":"crossref","unstructured":"C. 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