Multi-behavioral Multi-Robot Systems driven by Motivation Dynamics

This paper outlines a methodology for constructing multiple dynamical behaviors for a multi-agent system within the motivation dynamics theoretical framework. Recent work introduced analytical conditions for a dynamical system to undergo a Hopf bifurcation and generate multiple dynamical behaviors from a single family of continuous dynamics. The paper contributes by leveraging these recent results to develop a multi-agent system capable of switching its dynamic behavior without changing its underlying continuous dynamics. Simulation and experimental results are provided, confirming the theoretical results which guarantee the existence of a Hopf bifurcation in the dynamics of the multi-robot system.