SubCDM: collective decision-making with a swarm subset
SubCDM: collective decision-making with a swarm subset
Collective decision-making is a key function of autonomous robot swarms, enabling them to reach a consensus on actions based on environmental features. Existing strategies require the participation of all robots in the decision-making process, which is resource-intensive and prevents the swarm from allocating the robots to any other tasks. We propose Subset-Based Collective Decision-Making (SubCDM), which enables decisions using only a swarm subset. The construction of the subset is dynamic and decentralized, relying solely on local information. Our method allows the swarm to adaptively determine the size of the subset for accurate decision-making, depending on the difficulty of reaching a consensus. Simulation results using one hundred robots show that our approach achieves accuracy comparable to using the entire swarm while reducing the number of robots required to perform collective decision-making, making it a resource-efficient solution for collective decision-making in swarm robotics.
Swarm robotics, Collective decision making
Fuady, Samratul
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Tarapore, Danesh
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Soorati, Mohammad
35fe6bbb-ce52-4c21-a46e-9bb0e31d246c
Fuady, Samratul
d9aebeac-289e-4583-a6ac-aa11a82ff45f
Tarapore, Danesh
fe8ec8ae-1fad-4726-abef-84b538542ee4
Soorati, Mohammad
35fe6bbb-ce52-4c21-a46e-9bb0e31d246c
Fuady, Samratul, Tarapore, Danesh and Soorati, Mohammad
(2025)
SubCDM: collective decision-making with a swarm subset.
2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, , Hangzhou, China.
19 - 25 Oct 2025.
6 pp
.
(In Press)
Record type:
Conference or Workshop Item
(Paper)
Abstract
Collective decision-making is a key function of autonomous robot swarms, enabling them to reach a consensus on actions based on environmental features. Existing strategies require the participation of all robots in the decision-making process, which is resource-intensive and prevents the swarm from allocating the robots to any other tasks. We propose Subset-Based Collective Decision-Making (SubCDM), which enables decisions using only a swarm subset. The construction of the subset is dynamic and decentralized, relying solely on local information. Our method allows the swarm to adaptively determine the size of the subset for accurate decision-making, depending on the difficulty of reaching a consensus. Simulation results using one hundred robots show that our approach achieves accuracy comparable to using the entire swarm while reducing the number of robots required to perform collective decision-making, making it a resource-efficient solution for collective decision-making in swarm robotics.
Text
IROS_2025_SubCDM
- Accepted Manuscript
More information
Accepted/In Press date: 16 June 2025
Venue - Dates:
2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, , Hangzhou, China, 2025-10-19 - 2025-10-25
Keywords:
Swarm robotics, Collective decision making
Identifiers
Local EPrints ID: 504977
URI: http://eprints.soton.ac.uk/id/eprint/504977
PURE UUID: cc4f095b-5cd8-4ca5-b3c2-349804a5e6bd
Catalogue record
Date deposited: 23 Sep 2025 16:56
Last modified: 24 Sep 2025 02:01
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Contributors
Author:
Samratul Fuady
Author:
Danesh Tarapore
Author:
Mohammad Soorati
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