Abstract
In this paper, a Distance-Weighted K Nearest Neighboring (DW-KNN) topology is proposed to study selforganized aggregation as an emergent swarming behavior within robot swarms. A virtual physics approach is applied among the proposed neighborhood topology to keep the robots together. A distance-weighted function based on a Smoothed Particle Hydrodynamic (SPH) interpolation approach is used as a key factor to identify the K-Nearest neighbors taken into account when aggregating the robots. The intra virtual physical connectivity among these neighbors is achieved using a virtual viscoelasticbased proximity model. With the ARGoS based-simulator, we model and evaluate the proposed approach showing various selforganized aggregations performed by a swarm of foot-bot robots.