Research on Cooperative Behavior of Swarm Robots Using Autonomous Distributed Networks

Abstract

The goal of this research is to realize autonomous distributed cooperative behavior among multiple robots in the same area. To achieve this, it is necessary to establish (1) a stable autonomous decentralized communication network that can dynamically respond to increases and decreases in the number of robots, and (2) an autonomous decentralized control method that allows each robot to autonomously estimate other robots’ positions and perform cooperative behavior. In this paper, we study a method for estimating the relative positions of robots based on the RSSI values obtained from their communications. We also study the formation control using this relative position estimation method.