Behavior coordination in multi-robot systems

Fernando J. Mendiburu, Marcos R.A. Morais, Antonio M.N. Lima

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

14 Scopus citations


A distributed swarm navigation technique is presented for terrestrial mobile robots. Each robot has its own behavior-based controller that coordinates its basic behaviors by using a hybrid automata. The coordination allows flocking behavior as a result of parallel composition of individual robot automata. The distributed navigation problem is formulated for differential-drive wheeled robots equipped with odometry, compass, and laser range sensor. An interference analysis is made to evaluate the system performance under different configuration of initial parameters. The individual controller allows to expand the number of behaviors. This permits cohesion, align and safe navigation in the robot swarm. The pseudo-experimental results obtained in a ROS-GAZEBO environment were quite positive demonstrating the correctness and feasibility of the proposed solution.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Automatica, ICA-ACCA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781509011476
StatePublished - 8 Dec 2016
Externally publishedYes
Event2016 IEEE International Conference on Automatica, ICA-ACCA 2016 - Curico, Chile
Duration: 19 Oct 201621 Oct 2016

Publication series

Name2016 IEEE International Conference on Automatica, ICA-ACCA 2016


Conference2016 IEEE International Conference on Automatica, ICA-ACCA 2016


  • Behavior-based system
  • coordination
  • interference
  • swarm robotics


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