Functional complement by cooperation of multiple autonomous robots

As a flexible and robust intelligent robot system, we have been developing an autonomous and decentralized robot system called ACTRESS, which is composed of multiple robotic agents who have various kinds of functionalities. In order to achieve a given mission in multirobot environment, cooperative behaviors by autonomous agents are essential. In this paper, we focus on the case that multiple robots execute a task cooperatively with functional complement, especially for sensing function. We discuss cooperation of multiple robots using communication in a multi-agent robotic system, and propose a method of functional complement by multiple agents, including group organization and cooperative motion control. Finally, we show the experimental result to verify the proposed method