On the optimisation of behaviours surveillance structure in multirobots systems

In autonomous moving robotics, the tendency is to realize multirobot systems with some degree of intelligence; these robots should be able to obtain self-organization for achieving given tasks. Research in this field is often inspired by the ethology which studies the behaviours and interactions in insects societies. To get a correct functioning of such systems, one generally has to control them with feedback. Consequently, this approach may result in complexity. The authors´ aim is then to ensure some reliability in the multirobots system. Therefore, a mathematical method is developed. This method allows the optimization of the behaviours surveillance structure for each robot in the system