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Mobile Robot Coordination Using Fear Modeling Algorithm

Michał Konarski, Szymon Szomiński, and Wojciech Turek
AGH University of Science and Technology, Krakow, Poland

Abstract—Large groups of animals or people are able to solve complex motion coordination problems without centralized planning or explicit communication. This observation forms the basis for a fully autonomous robots coordination method, which allows solving conflict situations involving groups of robots operating in complex environment. The method is based on modeling the most basic instinct of survival, which is fear. The fear model allows robots to determine priority in situations involving single robots and groups of robots. Disturbing the symmetry of the algorithm allows solving complex problems like deadlocks in narrow passages. The method presented in this paper has been tested in simulation and in reality, giving very promising results. 

Index Terms—robot coordination, fear model, mobile robots

Cite: Michał Konarski, Szymon Szomiński, and Wojciech Turek, "Mobile Robot Coordination Using Fear Modeling Algorithm," International Journal of Mechanical Engineering and Robotics Research, Vol. 5, No. 2, pp. 96-102, April 2016. DOI: 10.18178/ijmerr.5.2.96-102