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At present, the research of multi-robot has been one of the most popular topics in the Robotics realm. In a dynamic, complicated and unknown environment, it is challenging to organize and control robots to finish a task that individual Robot hardly do. To make the multi-robot system operate effectively, we should organize it and control it with proper mechanisms. The issue on how to organize and control the multi-robot system has been extensively studied in. But most of these works only focus on individual behavior, cooperation between individual and groups, with few works on the cooperation in teams. In the same time, the description methods or models are also very rare, that can qualitatively describe how the robot teams are organized in the changing dynamic environment.
General description on robot teams
Through the evolution and development, human society has been developed into a local and hierarchical structure. The basis of the society is individuals with various backgrounds, abilities, knowledge levels and specialties. The behavior and efficiency of the local team decided by different individuals, cultural backgrounds, technology- levels and different management mechanisms. This character, in some sense, provides the organization forms of Multi-robot group bionic evidence.
Automatic moving robot
Automatic moving robot is a robot that can sense the state of itself and the local environment through the Sensors bringing limited communication equipment, moving toward the goals automatically in the environments with obstacles (static or moving) and finishing certain works. The robot can be made of electromechanical devices (action unit, executing unit, sensing unit and control units), computer and information processing system (intelligent decision-making, action control, moving control, environment sensing and communicating mechanics). We use R to represent automatic moving robot. And we call robot as individual robot.
Robot team
Robot team is an organic group with tight connections, organized temporarily by Individual robot based on tasks, can be seen as an autonomous domain. The cooperation of the robots in the autonomous domain is called inter-layer cooperation. And the cooperation between the autonomous domains, tight or loose, is called out-layer cooperation. The robot acts as the center
of the organization with stronger communicating and organizing ability is called the group leader. The computing actions and a coordinating wills defined by the group leader represent the actions and wills of this group. The number of the robots in the robot teams is changing dynamically; any individual robot can join or quit dynamically.
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