Behaviroal design and strategy for cooperative multiple-biomimetic-robot-fish system

The research on coordination of multiple biomimetic robot fish is focused on basic theory and key technology for systematic control and cooperation of future multiple underwater robots. By employing the behavior-based approach presented in this paper, many coordinate tasks can be achieved efficiently. Taking account of the motional characteristics of the fish and its environment, six primitive behaviors are introduced and the corresponding mechanism for behavior selection is designed. Coordinate motions of the fish are then accomplished by means of behavior based strategies involving role assignments, behavior selection and role transition. Two experiments of passing-hole and pushing-ball primarily show the feasibility and effectiveness of our approach