A negotiation model for cooperation among robots

This paper describes an architecture for the control of teams of robots. The architecture is developed from basis notions on the motion of single robots and includes the definition of a state space and basis operators that enable state transitions. Teams of robots can be also controlled by an architecture similar to the one used for single robots, with the adequate extension of the state. A negotiation procedure among the teammates is developed from the basis properties of the team state. The paper presents simulation results for a team of 3 unicycle robots flocking along a sequence of locations in the workspace.