Sonar-based flocking in the robot's team with radio communication

We consider the sonar-based flocking of the team of mobile robots with radio communication with no access to global positioning system. For such a sensing, we suggest a simple protocol for distance-based identification of the team members and consider the erroneous scenario, in which an obstacle is identified as a team member. Under the assumption of the Brownian motion of the robots, we provide the probability of such erroneous identification. The suggested model was verified by numerical simulations and the trials with the mobile robots equipped with ultrasonic sensors and BlueTooth communication.