A duration based behavior analyze approach for swarm robotics system

Swarm robotics is a new approach to the coordination of large numbers of homogeneous robots that takes inspiration from social insects. One of the major topics of SRS that have been getting attention from the early stage is the design methodology of robot controllers. On the other hand, no general methods for analyzing its collective behavior have been developed so far. In this paper, we propose a method based on the duration of subgroup´s behavioral sequence for analyzing task allocation in subgroups of a swarm robotics system. The proposed method shows that SRS takes most of the time searching for food sources and the behavior sequences duration over 100 time steps increased as the result of artificial evolution, which helps us understand the role changing of subgroups in the food foraging problem from the view point of duration time.