Analysis of Group Effect in Group Emergency Stopping Behavior of Autonomous Multi-Robot Systems with Uncertain Sensing Delay**This work is partially supported by Grant-in-Aid for Scientific Research (C) (18K11492), Japan

On current research and development of autonomous driving mobile system, urgent stopping control in high speed is the hottest research topic. We proposed a group emergency stop mechanism for multi-mobile robot system, which is based on motion control of multi-lane highway traffic. Lane based sub-group and inter-group interaction control scheme are defined and group emergency stop behavior have been illustrating via numerical simulation. In this paper, the group effect has been analyzed on the performance on coping with uncertain sensing delay. Simulation results indicates that Group Emergency Stopping Behavior contributes to reduce the opportunity of rear-end collision due to the sensing delay.