Collective Robot Behavior

Using behavior-based robotic systems in various applications has been increasingly popular in various fields of engineering. One of the main applications is the minesweeper for detecting landmines, where behavioral aspects are used in the design of the control algorithm. Control algorithms coordinate multiple robots, causing them to move in a collaborative way to complete a single task (e.g. the detection of mines) in unknown environment.

Our control algorithm is written in C language and implemented in a 2D as well as 3D simulation to verify the effectiveness of the algorithm. The results show that the robots are able to find all the light sources in the unknown environment with speed and efficiency. The algorithm was successfully tested with real Khepera robots after programming them via a serial link. Therefore the algorithm we have designed for multiple robots allows them to efficiently search for and locate the object specified (e.g. light source), in an unstructured environment.

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