A new multi robot search algorithm using probabilistic finite state machine and Lennard Jones potential function

Abstract

Swarm robotics is a decentralized approach to robotic systems. This paper exammes the problem of search and rescue using swarm robots. We present as solution a multi-robot search algorithm using probabilistic finite state machine and interaction inspired by Lennard-Jones potential function. The approach utilizes a finite state machine to separate the tasks performed and to change coordination rules according to the circumstances and social probabilities. The approach is tested in various scenarios to test flexibility, scalability and robustness. The performance results are promising and comparison with Robotic Darwinian Particle Swarm Optimization and Glowworm Swam Optimization for algorithmic complexity appear favourable.