Coordination without Communication: Finite State Automation in Behavior Based Multi-Robot Systems

In this paper we present a novel approach for coordinating a group of autonomous mobile robots based on behavioral paradigm using finite sate automation (FSA) based reasoning. To achieve coordination these robots do not communicate explicitly with each other but rely on information gathered from the environment. A robot's environment can be modified by its own actions as well as actions of other robots. In our approach a robot senses these modifications through stigmergic sampling of the environment. This sensed information is then used to change the current state of the robot and choose its next action as well. Group level behavior emerges from local behaviors of individual robots and without the robots involving in any active signaling or communication. We claim this approach to be a better alternative than using explicit communication.