Abstract
Swarm robotics (SR) is the research field of multi-robot systems which consist of many homogeneous autonomous robots without any type of global controllers. Since a robotic swarm is controlled by an emergent way such as a result of self-organization by using robot learning or artificial evolution. It is difficult to grasp the macroscopic collective behavior in a practical sense. In this paper, we propose a novel method of analyzing the swarm behavior. Since the main inspirations of SR come from the observation of social insects, analysis of the transition of robot's actions is introduced based on a technique used in ethology. Applying this method, we observe the role assignment of subgroups extracted in a cooperative foraging task by a robotic swarm.
