Information diffusion by local communication of multiple mobile robots

For robot cooperation in a large system with many mobile robots, the locality and concurrence of communication must be taken into account. The time-delay in communication becomes important for task planning in such a robot environment. We analyzed the information diffusion among many mobile robots, and proposed a method to evaluate the time-delay and to control the diffusion using the logistic equation. The model is verified and the effectiveness of our method is verified by simulation which implements many mobile robots. Another simulation of cooperative task execution shows that the analysis allows us to make task planning more efficient. Utilizing this simple logistic function, the time-delay required so that the task information is transmitted to the necessary number of robots is computed, and unnecessary diffusion of the information can be avoided