An approach of IR-Based short-range correspondence 
systems for swarm robot balanced requisitions and 
communications 
Rafiqul Islam ,Iftekharul Mobin , Md. Nazmus Shakib, Md Matiur Rahman 
Department of Computer Science and Engineering  
University of Liberal Arts Bangladesh (ULAB) 
House No. 56, Road No. 4/A, Satmasjid Road, Dhaka 1209, Bangladesh  
rafiqul713@gmail.com, iftekharul.mobin@ulab.edu.bd, 
nazmus.shakib.cse@gmail.com, matiur.rahman.cse@ulab.edu.bd 
 
 
Abstract: 
 
This paper exhibits a short-run correspondence method appropriate for swarm versatile robots application. 
Infrared is utilized for transmitting and accepting information and obstruction location. The infrared 
correspondence code based swarm signaling is utilized for an independent versatile robot communication 
system in this research. A code based signaling system is developed for transmitting information between 
different entities of robot. The reflected infrared sign is additionally utilized for separation estimation for 
obstruction evasion. Investigation of robot demonstrates the possibility of utilizing infrared signs to get a 
solid nearby correspondence between swarm portable robots. This paper exhibits a basic decentralized 
control for swarm of self-collecting robots. Every robot in the code based swarm signaling is completely self-
governing and controlled utilizing a conduct based methodology with just infrared-based nearby detecting 
and correspondences. The viability of the methodology has been checked with simulation, for a set of swarm 
robots. 
 
Keywords:  Robot Communication, Swarm robotics, IR communication, Arduino, Robot Agent, Infrared, Collective 
behavior, Decision-making. 
 
1. Introduction:  
 
Nowadays swarm robots have become interesting fields. In this work we developed an IR-based swarm robot 
communication. IR has also become another medium of communication. Here we used IR because this 
allows the robot to minimize the power consumption. It needs very little amount of energy to operate. Each 
robot can detect another robot (homologous) and communicate with each other. Each robot can also avoid 
obstacle. After observing the environment each robot can get reliable information about other robot and 
obstacle and their position in the environment.  Swarm robots are a large number of collective agents and 
they work cooperatively to solve different task. One robot can recognize the other homologous robot through 
emitted IR radiation. Each robot can take decision based on observing the environment and analyzing it. 
They can communicate themselves according to their needs and to full-fill their purpose. The robot that are 
sent out alone or in non-cooperative pairs there is a high risk of failure. In this case swarm robot can be sent 
out on a mission with a high level of confidence. 
 
In swarm robotics research we experienced numerous issues, for example, coordination rules aggregate basic 
swarm leadership [1] with scientific and algorithmic approaches [1-5]. All the more for the most part, these 
issues are identified with various fields of AI [5] and outlining of swarm robotics [6], [7] e.g. through 
exemplification  in any case every one of these instruments work just when robots are associating [8].  
 
There are a few methods for how the robots can cooperate: robots watch environment and the conduct of 
different robots, physical association, backhanded cooperation trough environment or they impart. Since the 
micro robots are confined in detecting and calculation, this method for associating group of swarms will be 
appropriate [4]. There are works on e.g. acknowledgment of robots by transmitted IR-radiation [8], shading 
observation then again utilizing impacts as connections among robots.  
 
Complex psychological and behavioral systems are incomprehensible without correspondence. Creating 
correspondence systems for certain groups of swarm [9] experiences couple of issues for implementation. In 
the first place of all, robots have just constrained correspondence sweep. This permits maintaining a strategic 
distance from the issue of correspondence flood swarms (100+ robots), be that as it may opens the issue of 
proliferating the applicable data over the swarm. This data concerns e.g. vitality assets, behavioral objectives, 
threats and so on. Robots are confined in equipment for utilizing calculations and conventions known in the 
area of dispersed frameworks [10]. Thusly new ideas and new conventions ought to be produced for the 
swarm correspondence. Not just programming conventions, additionally correspondence equipment ought to 
be adjusted to the need of expansive scale swarms. This essentially concerns a multi-channel hardware for 
omni directional swarm neighborhood correspondence, utilizing of low-level signs, streamlining of the 
transmitted vitality and arrangement of directing issue [11]. We say that exclusive a great interchange 
between equipment, programming and robots conduct permits a solid data move in a swarm mechanical 
autonomy frameworks are described by decentralized control, constrained correspondence between robots, 
use of neighborhood data, and development of worldwide conduct. Such frameworks have demonstrated 
their potential for adaptability and power [1]–[3]. In any case, existing swarm mechanical autonomy 
frameworks are all things considered still constrained to showing basic verification of idea practices under 
lab conditions. Swarm robots must grasp heterogeneity that they ever need to approach the intricacy required 
of frameworks. To date, swarm mechanical technology frameworks have only contained physically, 
behaviorally undifferentiated specialists[13]. This configuration choice has its roots in code based swarm 
signaling models of self-sorting out characteristic frameworks. These models serve as motivation for swarm 
mechanical technology code based swarm signaling architects, yet are regularly exceptionally conceptual 
rearrangements of characteristic frameworks. Chosen elements of the frameworks under study are appeared 
to rise up out of the communications of indistinguishable code based swarm signaling parts, disregarding the 
heterogeneities (physical, spatial, practical, and instructive) that one can discover in any common framework 
[14] [15]. The field of swarm mechanical technology presently needs techniques and instruments with which 
to study and influence the heterogeneity that is available in characteristic frameworks. To cure this lack, we 
propose a code based infrared IR communication system, a creative swarm mechanical technology code 
based swarm signaling made out of three distinctive robot sorts with correlative abilities. So that the root can 
operate as self-governing robots spent significant time in proceeding onward both even and uneven 
landscapes, fit for self-collecting and of transporting objects; self-sufficient fit for climbing some vertical 
surfaces and controlling little protests. Also can be appended for investigating the earth from an advantaged 
position. 
 
2. Literature Review: 
 
A group of mobile robots builds one pile from some randomly distribute object[15],[16]. The mobile robots 
group coordinates with indirect communication through sensing and modification of the local environment 
which determine the agent behavior from Local Action to Global Task. A multiple robots system performs 
their task without centralize control or explicit communication. Mobile robots able to achieving simple 
collective task and verify result by simulation. The result suggests cooperative task requiring collective 
behavior without explicit communication [17]. Jasmin robot allows huge scale swarm system investigate 
artificial self organization, control large robotic group [18]. For later development from 2007-2010 revise 
these idea swarm artificial where include evolutionary robotics, online embodied evolving, system capable 
structure modification and general field of adaptive system [19]. This facilitate more embodied cognition on 
swarm and collective robots.- IR-based Communication and Perception in Micro-robotic swarm. Swarm 
mobile robots application used short range communication technique [18], [19]. In swarm robotics infrared is 
used to transmitting and receiving data packet and obstacle detection. This swarm robots application use 
PCM (Pulse-Code-Modulation) digital scheme for transmitting data [20]. Communication with mobile robots 
by infrared signal which is depends on robots behavior [21]. For Collective combined behavior use custom 
range and bearing system base on cascaded filtering technology implemented by infrared frequency 
communication. Infrared Range and Bearing system for Collective Robots [21]. For observation mobile 
combined behavior use 360-degree observation capability which identification of neighboring robots from 
object and their position. For observation use DRIr ( Dual Rotating Infrared) sensor which is based on 
algorithm. Sensor provides real time location such as Dual Rotating Infrared. Similar robotics application of 
combined behavior is implemented by Melhuish. For our application we used infrared for communication 
[20], [21]. 
 
3. Equipment uses: Most of the equipment used in this work is related to the  
 
3.1 Ardunio Uno: 
Ardunio Uno is a micro-controller board based on the ATmega328P. It has 14 digital input/output pins (of 
which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz quartz crystal, a USB connection, a power 
jack, an ICSP header and a reset button. It contains everything needed to support the microcontroller; simply 
connect it to a computer with a USB cable or power it with an AC-to-DC adapter or battery to get started. 
  
 
 
 
 
 
 
 
Fig 1.1: Ardunio Unu [23] 
 
 
 
3.2 IR communication: 
IR, or infrared, communication is a common, inexpensive, and easy to use wireless communication 
technology. IR light is very similar to visible light, except that it has a slightly longer wavelength. This 
means IR is undetectable to the human eye - perfect for wireless communication.  
 
3.3 IR transmitter: 
The IR transmitter consists of the LED that emits the IR(Infra Red) radiation. This is received by the photo 
diode, which acts as IR receiver at the receiving end. 
 
 
  
 
 
 
 
 
 
 
 
 
 
Fig 1.2: IR Transmitter[24] 
 
3.4 IR receiver: 
An infrared receiver, or IR receiver, is hardware that sends information from an infrared remote control to 
another device by receiving and decoding signals. In general, the receiver outputs a code to uniquely identify 
the infrared signal that it receives. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig 1.3: IR receiver[25] 
 
 
 
4. Flow Chart 
 
 
 
 
 
Flowchart Description: 
 
 
 
 
 
After starting swarm robot, at first each swarm robot emits IR radiation spontaneously through IR 
transmitter. IR receiver will receive the IR signal.  If it receives the same IR signal which it sent then it will 
decide there are obstacle in-front of it. If it receive different IR signal then check the list. If the list contains 
this IR signal then it will take decide there are Homologous Robot in-front of it. Now it is ready to 
communicate with them. If list does not contain the received IR then it will take decision there are other IR 
transmitting source here.  
 
 
 
 
 
 
 
 
5. Circuit Block Diagram: 
                     
                      
 
 
 
Fig 1.4: Block Diagram 
In this block diagram there are two Ardunio are used for describing IR communication between swarm 
robots. Each Ardunio contain one IR transmitter/sender and one IR receiver.  
Left side Ardunio, IR sender's one pin is connected to the ground pin of Ardunio and another one is 
connected to Ardunio's Digital Pin 3.  
Right side Ardunio, IR receiver's one pin is connected to 5 volt of Ardunio another one is connected to the 
ground of Ardunio and other one pin is connected to the Ardunio's digital pin 3.     
 
 
6. Pseudo Code: 
 
 
 
  
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
At first initialize the total number of homologous swarm robot/agent which will operate in the environment. 
Each robot will be given a unique identification number which distinguish them from others. The condition 
of while loop is true. It will execute infinitive time. The scope of while loop will execute infinitive time. 
Here it will emit IR code. Then IR receiver will receive the IR code. If it receive the same IR code then 
obstacle will found. If it receives different IR then check the IR code in list which is initialize first time. If 
received IR code matched with the list then the robot is familiar. Now it is ready to communicate with it. If it 
receives other IR code then it will decide other IR sources are existing in the environment. On the other hand 
if it does not receive any IR code then it will decide there are no obstacle in-front of it and no homogeneous 
robot in the environment. 
 
 
7. Methodologies and Protocol: 
 
Here, we develop a protocol for communication. Each robot sends a request to another robot for 
communication.  If another robot is homologous robot then it accepts the request and they communicate each 
other by sending IR signal. Synchronize illustration: This protocol demonstrate how a gathering of robots can 
convey about headings where they are indicating encompassing neighbors and wind up adjusted towards the 
same course. In a complete circle, the robots attempt to:  
 
i) Send data: Because of the quantity of robots, every robot will first send his own ID, and after that his own 
heading identified with the robots from which it has got a message.  
 
ii) Listen for a few transmissions and unravel the messages. In the event that a message is an ID, it will store 
the heading where it comes from. On the off chance that the message is an introduction tended to it, it will 
change the introduction, as indicated by this new data. 
 
7.1 Investigation: 
 
Wrong messages got, or messages not got. Robots transmit the same infrareds. So when a few robots attempt 
to send in the same time, most likely get just wrong messages. IR interchanges are marginally touchy to light 
conditions. On the off chance that need to draw near to 0 messages lost, attempt to work with controlled 
light, discharging couple of infrareds, and without motions. The infrared on utilized is set to a high need 
which may supersede others. To adapt these issues of timing, we have executed a period counter inside 
Arduino code. The algorithm provides exact timings.  
 
 
7.2 IR emission process: 
  
The first phase is IR transmission. Each robot is equipped with an IR transmitter and it will continuously 
emit IR. Here it sends particular data through IR transmitter. IR transmitter is use for two purposes. First 
reason, Detecting Obstacle; second reason, Communication purpose. 
 
7.3 IR receiving process: 
 
IR receiver is used for receiving IR. Every robot has one IR receiver. Each robot receives IR data then 
matches it with its database. If it receives the same IR data that it sends in this case there is an obstacle in 
front of this robot. That’s why it receives the same data which is reflected to the obstacle. If robot receives 
different data then it compares the data with its database. If it matches in this case another homologous robot 
is found. Now it can communicate with that robot. Otherwise it does not interest to communicate. 
 
 
 
8. Conclusion 
 
In this work we exhibited swarm robotics equipment set up and programming issues concerning IR-based 
communication and correspondence. We have demonstrated that few challenges made by constrained 
equipment capacities can be effectively overcome. The purpose of the exhibited investigations is identified 
with exemplification. This ought to make another motivation towards reconfigurable and developmental 
methodologies for swarm robot communication system. To this end, it is important to create apparatuses and 
procedures that empower the utilization of swarm robot communication for heterogeneous frameworks. We 
recognized significant issues and challenges, specifically highlighting the trouble of conveying the firmly 
incorporated automated equipment to empower physical and behavioral communication between various 
robot sorts. 
 
9. Future Plan 
Our future plan is to add more functionality with each swarm robot. To add GPS and IoT ( Internet of 
Things)  device with them so that they can be track anywhere in the world. To add mechanical hand with 
them so that they can do any work more efficient manner. Our future plan is to apply Artificial Neural 
Network in swarm robotics. But it will be a very challenging task. This swarm robot can be sent any 
environment they can adapt themselves. They can learn from their experience and become completely 
autonomous.   
 
 
 
 
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Biography 
 
Rafiqul Islam  is a student in computer science and Engineering department of University of Liberal Arts 
Bangladesh(ULAB). He is an undergraduate student. His research interests are Embedded system, Artificial 
Intelligence,Artificial Neural Network, Linked Data,Digital Image Processing. He likes ACM programming.     
 
 
 
 Iftekharul Mobin is an Assistant Professor in computer Science and Engineering department of University of Liberal 
Arts Bangladesh (ULAB). He obtained his doctor's degree from the School of Electronic Engineering of Queen 
Mary, University of London in 2014. He completed his B.Sc in Computer Science and Information Technology 
(CIT) from Islamic University of Technology (IUT), Gazipur, Bangladesh in 2008. After his PhD he worked in a 
Telecommunication service provider company Natterbox Ltd in London as a researcher and developer in company 
R&D. His current research interests are artificial Intelligence, Embedded systems, Wireless Ad hoc Networks, 
Smart devices Robotics and sensor based technologies. He is the founder of wireless sensor and Robotics lab in 
ULAB. Dr. Mobin is an author and co-author of many International Journals and conference papers. He is currently 
professional member and student branch coordinator of IEEE in ULAB. 
 
Md. Nazmus Shakib is a student in computer science and Engineering department of University of Liberal Arts 
Bangladesh(ULAB). He is an undergraduate student . He passed HSC from Naogaon Govt: College. His research 
interests are Embedded system.   
 
Md Matiur Rahman is a student in computer science and engineering department of University of Liberal Arts 
Bangladesh(ULAB). He is an undergraduate student. His research topics is Digital Image Processing, Artificial 
Intelligence , Wireless Communication.