Probabilistic Distributed Energy for Long-lived Group of Mobile Robots

Autonomous mobile robot is usually equipped a finite amount of energy, it can accordingly work in finite time. Inspired from swarm behavior of collecting and sharing food of natural animals, e.g. honey-bee, game theory and mobile agents in multi-agent systems we issue a novel approach to distribute energy for multi-task autonomous mobile robots in order to keep group of mobile robot long-lived. In this paper we describe practical deployment of a group of mobile robot with possibility of carrying and then exchanging fuel cell, e.g. battery to other robot. The battery exchange solution is basically based on probabilistic model of total energy of each robot in its local vicinity. Early implementation that includes modular hardware and control architecture to demonstrate possibility of the approach is presented