Studies of minimalist multi-robot systems consider multiple robotic agents, each with limited individual capabilities, but with the capacity for self-organization in order to collectively perform coordinated tasks. Object clustering is a widely studied task in which self-organized robots form piles from dispersed objects. Our work considers a variation of an object clustering derived from the influential ant-inspired work of Beckers, Holland and Deneubourg which proposed stigmergy as a design principle for such multi-robot systems. Since puck mechanics contribute to cluster accrual dynamics, we studied a new scenario with square objects because these pucks into clusters differently from cylindrical ones. Although central clusters are usually desired, workspace boundaries can cause perimeter cluster formation to dominate. This research demonstrates successful clustering of square boxes - an especially challenging instance since flat edges exacerbate adhesion to boundaries - using simpler robots than previous published research. Our solution consists of two novel behaviours, Twisting and Digging, which exploit the objects’ geometry to pry boxes free from boundaries. Physical robot experiments illustrate that cooperation between twisters and diggers can succeed in forming a single central cluster. We empirically explored the significance of different divisions of labor by measuring the spatial distribution of robots and the system performance. Data from over 40 hours of physical robot experiments show that different divisions of labor have distinct features, e.g., one is reliable while another is especially efficient.

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This dissertation thesis deals with similarity measures for nominal data in hierarchical clustering, which can cope with variables with more than two categories, and which aspire to replace the simple matching approach standardly used in this area. These similarity measures take into account additional characteristics of a dataset, such as frequency distribution of categories or number of categories of a given variable. The thesis recognizes three main aims. The first one is an examination and clustering performance evaluation of selected similarity measures for nominal data in hierarchical clustering of objects and variables. To achieve this goal, four experiments dealing both with the object and variable clustering were performed. They examine the clustering quality of the examined similarity measures for nominal data in comparison with the commonly used similarity measures using a binary transformation, and moreover, with several alternative methods for nominal data clustering. The comparison and evaluation are performed on real and generated datasets. Outputs of these experiments lead to knowledge, which similarity measures can generally be used, which ones perform well in a particular situation, and which ones are not recommended to use for an object or variable clustering. The second aim is to propose a theory-based similarity measure, evaluate its properties, and compare it with the other examined similarity measures. Based on this aim, two novel similarity measures, Variable Entropy and Variable Mutability are proposed; especially, the former one performs very well in datasets with a lower number of variables. The third aim of this thesis is to provide a convenient software implementation based on the examined similarity measures for nominal data, which covers the whole clustering process from a computation of a proximity matrix to evaluation of resulting clusters. This goal was also achieved by creating the nomclust package for the software R, which covers this issue, and which is freely available.