Achieving Consensus in Robot Swarms

This book focuses on the design and analysis of collective decision-making strategies for the best-of- n problem. After providing a formalization of the structure of the best-of- n problem supported by a comprehensive survey of the swarm robotics literature, it introduces the functioning of a collective decision-making strategy and identifies a set of mechanisms that are essential for a strategy to solve the best-of- n problem. The best-of-n problem is an abstraction that captures the frequent re