A Study on Dynamically Reconfigurable Robotic System : 27th Report, Control Strategy for Group Behavior of Self-Organizing Robot

This paper deals with a modeling and controlling strategy for multirobot group behavior. While the distributed autonomous robot system has the advantage of flexibility, it also has difficulties in coordinating global system such that the designer expects. We present a methodology for the designing issue for group robotics. Self-organization is a natural principle in a dissipative system. Utilizing this principle, we present the top-down and bottom-up hybrid approach and a basic model for coordinating macro-scale group behavior as a framework for the self-organizing control of group behavior. Then we present the model of strategy formation in the system based on the opinion formation model. The analytical predicted group behavior is verified by simulation results. In particular, we realize self-organization of temporal behavior pattern in group-level cooperation.