Roboticswarmsaredecentralizedsystemsformed by a large number of robots. A common problem encountered in a swarm is congestion, as a great number of robots oftenmustmovetowardsthesameregion.Thishappenswhen robotshaveacommontarget,forexampleduringforagingor waypoint navigation. We propose three algorithms to alleviatecongestion:inthefirst,somerobotsstopmovingtowards the target for a random number of iterations; in the second, wedividethescenariointworegions:onefortherobotsthat aremovingtowardsthetarget,andanotherfortherobotsthat are leaving the target; in the third, we combine the two previous algorithms. We evaluate our algorithms in simulation, where we show that all of them effectively improve navigation. Moreover, we perform an experimental analysis in the real world with ten robots, and show that all our approaches improve navigation with statistical significance.

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• Avoiding target congestion on the navigation of robotic swarms