Autonomous Mobile Robots and Multi-Robot Systems

9Multi‐Robot Systems and Swarming

Eugene Kagan, Nir Shvalb, Shlomi Hacohen, and Alexander Novoselsky

This chapter provides an introduction into collective behavior in multi‐robot systems. In particular, the chapter considers different types of communication and control in multi‐agent systems, basic flocking rules, and general methods of aggregation and collision avoidance. In addition, the chapter considers the corresponding networking techniques, cybernetic concepts, and positioning problems.

9.1 Multi‐Agent Systems and Swarm Robotics

In previous chapters, we considered the motion of a single robot in static and dynamic environments and the methods of motion planning with complete and incomplete information. This section starts the consideration of multi‐robot systems, in which the robots act in the teams and collaborate for executing definite common mission. It is necessary to stress that in the multi‐robot systems the mission and the goal are defined for the team as a unit (Balch and Parker 2002), while the missions and the goals of individual robots of the team can strongly differ both from the team's mission and from the mission and the goal of each other robot.

The activity of multi‐robot systems in general and of the teams of mobile robots can be considered from different points of view. For example, in the case of a manufacturing line that includes arm manipulators, conveyers, machines with computer numerical control (CNC) and automatic storages, positions of all ...