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Distributed approaches to behavior control

Our work focuses on local, decentralized sensing and behavior strategies for controlling a collection of twenty mobile robots. Each of the robots is equipped with a suite of simple sensors: infra-red, radio, and bump sensors, and programmed with a collection of interacting behaviors, based on the distributed style of the subsumption architecture. The goal of this work is to taxonomize a set of basic collective behaviors, as well as identify simple control strategies for producing them, in order to use them as building block for more complex behaviors.