On the optimisation of behaviours surveillance structure in multirobots systems

In autonomous moving robotics, the tendency is to realize multirobot systems with some degree of intelligence; these robots should be able to obtain self-organization for achieving given tasks. Research in this field is often inspired by the ethology which studies the behaviours and interactions in insects societies. To get a correct functioning of such systems, one generally has to control them with feedback. Consequently, this approach may result in complexity. The authors' aim is then to ensure some reliability in the multirobots system. Therefore, a mathematical method is developed. This method allows the optimization of the behaviours surveillance structure for each robot in the system.