Abstract
Swarm robotic systems (SRS) are a kind of multi-robot systems which consist of many homogeneous autonomous robots without any global controllers. SRS is expected to have some valuable properties, however it is difficult to generate the desired behavior because of intrinsic redundancy in itself. As a problem dealt in the SRS, generation of flocking behavior has been cited. In these researches, each robot can perceive wide area and communicate between the robots. However, wide perception area and communication may adversely affect the design of SRS. In this paper, flocking behavior is generated in mobile autonomous robots characterized local sensing and non-communication between the robots. Moreover, as a method to generate flocking behavior, we implement the algorithm based on self-propelled particles model to each robot.
