Social potentials based dynamic cooperation chain

摘要

Cooperation is one of fundamental problems in multi-robot teams. The social potential field can contribute to the organization of different robot roles. This paper proposes a new method to construct a dynamic cooperative chain based on the social potential field. Depending on proper potential functions and conversation among robots, autonomous alliance of multi-robots can be achieved effectively. It is a self-organizing mechanism for multi-robot cooperation such that the robot can construct teams and change their own roles dynamically.