Fuzzy-based self-organizing aggregation method was suggested in the present study for swarm robots. In the suggested method, Swarm robots evaluate their limited sensor input via rules of fuzzy logic and display aggregation behavior with the suggested aggregation method. In the meantime, swarm robots also have the ability to escape the obstacles in a bounded arena with this method. Swarm robots perceive the neighboring robots with this method, make individual decisions and display aggregation behaviors. Different from the traditional self-organizing aggregation methods, the suggested approach utilizes fuzzy logic controllers to evaluate limited sensor data. Systematic experiments were applied on different number of swarm robots with different detection areas in arenas of different sizes. Moreover, noise was applied on the sensor inputs for examining the performance of the fuzzy logic based self-organizing aggregation method. The scalability and flexibility of the self-organizing aggregation behaviors of swarm robots were evaluated by way of systematic experiments. The swarm robots displayed aggregation behavior during the systematic experiments applied despite the changes in the number of robots and detection distances.
