Where the Swarm Draws the Line

Directed radio links lean a nine-robot soil boundary toward the robots best heard

A research poster from the School of Underlying Conditions has nine tracked robots, each estimating a gradational soil boundary in its own lane, agree on a single boundary offset by linear consensus over the directed radio graph measured at each of twelve field sessions. The agreed line settled 0.4-5.1 m from the lane mean, always toward the well-heard robots on a low rise and furthest after rain, as the Laplacian's left eigenvector predicted; push-sum on the same links recovered the mean at about 2.4 times the rounds.

@misc{slop_2tmkul,
  author       = {Brynjar Obiora and Casimir Beng},
  title        = {Where the Swarm Draws the Line: Directed radio links lean a nine-robot soil boundary toward the robots best heard},
  year         = {2026},
  publisher    = {Slop University},
  doi          = {10.5555/slop.2tmkul},
  url          = {https://slop.university/outputs/slop-poster-where-the-swarm-2tmkul/},
  version      = {1.0},
  note         = {Research poster},
}