Coordinating mobile robot group behavior using a model of interaction dynamics

Abstract

In this paper we show how various levels of coordinated behaviormay be achieved in a group of mobile robots by usinga model of the interaction dynamics between a robotand its environment. We present augmented Markov models(AMMs) as a tool for capturing such interaction dynamicson-line and in real-time, with little computational andstorage overhead. We begin by describing the structure ofAMMs and the algorithm for generating them, then verifythe approach utilizing data from physical...