Performance Analysis of Fault Tolerance Algorithm for Pattern Formation of Swarm Agents

Swarm robotics is a growing field of swarm intelligence inspired by natural swarms for providing a solution for the collaboration among swarm agents to achieve a common goal. One of the challenges in designing a swarm robotic system with desired collective behaviour is to understand the effect of individual behaviour on group performance. This paper considers a system composed of autonomous swarm agents, each one executing its algorithm. We present a generic fault-tolerant pattern formation algorithm, in which different agents from different positions gather and then form a desired geometric pattern specifically a uniform circle and maintain it in the presence of faulty agents. We present an analysis based on simulations and experimental results of the proposed algorithm on swarm forming the pattern, in which failures are deliberately induced to check their fault tolerance capability and pattern formation capability. Our findings show that the formed geometric pattern can be restored and maintained depending on the different parameters in the presence of faulty agents. •We introduce a Fault-tolerance algorithm for pattern formation of swarm agents.•Elaborated the Uniform Circle formation and then fault-tolerance in uniform circle formation.•Used Sensor-based analysis as mathematical model.•Fault-tolerance algorithm is simulated and validated.