Vol. 18 Núm. 1 (2021): Revista Tekhnê



Review of flocking organization strategies for robot swarms

Revisión de las estrategias de organización en bandadas para enjambres de robots


  • Fredy H. Martínez S. Universidad Distrital Francisco José de Caldas

Palabras clave:

Bandada, emergencia, planificación de trayectorias, sistemas de enjambre, sistemas multiagentes (es).

Palabras clave:

Emergence, flocking, multi-agent systems, path planning, swarm systems (en).


Resumen (en)

Robotics promises great benefits for human beings, both at the industrial level and concerning personal services. This has led to the continuous development and research in different problems, including control, manipulation, human-machine interaction, and of course, autonomous navigation. Robot swarm systems promise an alternative solution to the classic high-performance platforms, particularly in applications that require task distribution. Among these systems, flocking navigation schemes are currently attracting high attention. To establish a frame of reference, a general review of the literature to date related to flocking behavior, in particular, optimized schemes with some guarantee of safety, is presented. In most of the cases presented, the characteristics of these systems, such as minimal computational and communication requirements, and event-driven planning, are maintained.

Resumen (es)

La robótica promete grandes beneficios, tanto a nivel industrial como con respecto a servicios personales. Esto ha incidido en el continuo desarrollo e investigación en diferentes problemas, entre ellos el control, la manipulación, la interacción hombre-máquina, y por supuesto, la navegación autónoma. Los sistemas de enjambres de robots prometen una alternativa de solución frente a las clásicas plataformas de alto de desempeño, particularmente en aplicaciones que requieren distribución de tareas. Entre estos sistemas, llama la atención los esquemas de navegación en bandada, los cuales tiene actualmente una alta atención. Para establecer un marco de referencia, se presenta una revisión general de la literatura a la fecha relacionada con comportamientos en bandada, en particular esquemas optimizados y con alguna garantía de seguridad. En la mayoría de los casos presentados se mantienen las características de estos sistemas, como son requisitos mínimos de computación y comunicación, y la planificación basada en eventos.


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Cómo citar


Martínez S., F. H. (2021). Review of flocking organization strategies for robot swarms. Tekhnê, 18(1), 13–20. Recuperado a partir de


Martínez S., F.H. 2021. Review of flocking organization strategies for robot swarms. Tekhnê. 18, 1 (jun. 2021), 13–20.


Martínez S., F. H. Review of flocking organization strategies for robot swarms. Tekhnê 2021, 18, 13-20.


MARTÍNEZ S., F. H. Review of flocking organization strategies for robot swarms. Tekhnê, [S. l.], v. 18, n. 1, p. 13–20, 2021. Disponível em: Acesso em: 9 dic. 2022.


Martínez S., Fredy H. 2021. «Review of flocking organization strategies for robot swarms». Tekhnê 18 (1):13-20.


Martínez S., F. H. (2021) «Review of flocking organization strategies for robot swarms», Tekhnê, 18(1), pp. 13–20. Disponible en: (Accedido: 9diciembre2022).


F. H. Martínez S., «Review of flocking organization strategies for robot swarms», Tekhnê, vol. 18, n.º 1, pp. 13–20, jun. 2021.


Martínez S., F. H. «Review of flocking organization strategies for robot swarms». Tekhnê, vol. 18, n.º 1, junio de 2021, pp. 13-20,


Martínez S., Fredy H. «Review of flocking organization strategies for robot swarms». Tekhnê 18, no. 1 (junio 25, 2021): 13–20. Accedido diciembre 9, 2022.


Martínez S. FH. Review of flocking organization strategies for robot swarms. Tekhnê [Internet]. 25 de junio de 2021 [citado 9 de diciembre de 2022];18(1):13-20. Disponible en:

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