Abstract
Flocking algorithm of multi agent system is robust and disaster tolerant even though agents face obstacles or destructed. These algorithms are modeled to generate complex behavior such as flock of birds and fished by simple distributed rules. In this paper, we focus on applying these mechanism to single robot by assuming that the robot is the set of agents. We extend flocking algorithm to be capable of using in single robot and apply it to dog-shaped robot to convey baggage with other robots. In baggage conveying task, robots must deal with complex effects from its environment, the baggage and other robots.
