Bio-inspired true coalition formation on intrusion detection by mobile robots

In this paper, we study a true coalition formation of three robots (i.e., 2 robots vs. 1 robot) in order to detect and capture intrusions in a curved loop. A coalition benefits robots by increasing detection and capture strength, but it has a tradeoff of paying an investment cost for each individual. We derive that a true coalition only arises when an interior evolutionarily stable strategy exists. We also find out the conditions under which an interior evolutionarily stable strategy exists.