Hoff, Nicholas R. IIISagoff, AmeliaWood, RobertNagpal, Radhika2011-11-152010Hoff, Nicholas R. III., Amelia Sagoff, Robert J. Wood, and Radhika Nagpal. 2010. Two foraging algorithms for robot swarms using only local communication. In IEEE-ROBIO 2010 : 2010 IEEE International Conference on Robotics and Biomimetics, 123-130. Piscataway, N.J. : Institute of Electrical and Electronics Engineers. December 14-18, 2010, Tianjin, China.978-1-4244-9319-7http://nrs.harvard.edu/urn-3:HUL.InstRepos:5345875Large collections of robots have the potential to perform tasks collectively using distributed control algorithms. These algorithms require communication between robots to allow the robots to coordinate their behavior and act as a collective. In this paper we describe two algorithms which allow coordination between robots, but do not require physical environment marks such as pheromones. Instead, these algorithms rely on simple, local, low bandwidth, direct communication between robots. We describe the algorithms and measure their performance in worlds with and without obstacles.en-UShardwareheuristic algorithmslegged locomotionmeasurementrobot kinematicsrobot sensing systemsConference Paper2011-11-1510.1109/ROBIO.2010.5723314