Modeling collaborative robots for detecting intrusions

In this paper, we study collaborative robots for detecting intrusions using game theory. We consider the coalition formation in a group of three robots which detect and capture intrusions in a closed curve loop. In our analysis model, individuals seek alliances/collaboration if they think their detect regions/lengths are too short to gain an intrusion capturing probability larger enough on their own. We allow coalition seeking to carry an investment cost (c) and let outcomes of parities to be determined by the formation of coalition, with the detect length of a coalition simply to be the sum of those of separate coalition members.