Motion coordination for swarm robots

In this paper describes motion coordination of swarm robots using Interval Type-2 Fuzzy Logic Controller (IT2FLC). In this experiment utilize three identical robots with different color. Every robot has three infrared sensors, two gas sensors, 1 compass sensor and one X-Bee. A camera CCD in the roof of robot arena is utilized to determine the position of each robot with color detection methods. Swarm robots and camera are connected to a computer which serves as an information center. From the experimental results the IT2FL algorithm is able to control swarm robots coordination, produce smooth trajectory without collision.