Behavior-Based Coordination in Multi-Robot Systems

The successful deployment of a multi-robot system (MRS) requires an effective method of coordination to mediate the interactions among the robots and between the robots and the task environment in order for a given system-level task to be performed. The design of coordination mechanisms has received increasing attention in recent years and has included investigations into a wide variety of coordination mechanisms. A popular and successful framework for the control of robots in coordinated MRS is behavior-based control (1,2). Behavior-based control is a methodology in which robots are controlled through the principled integration of a set of interacting behaviors (e.g., wall following, collision avoidance, landmark recognition, etc.) in order to achieve desired system-level behavior. This chapter will describe, through explanation, discussion of demonstrated simulated and physical mobile robots, and formal design and analysis, the range and capabilities of behavior-based control applied to multi-robot coordination.

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