Emergence Analysis in a Multi-Robot System

In this paper, we study the emergent behaviors in a multi-robot system. The multi-robot system uses a model for decision making that is composed of three levels: one individual, one collective, and another for the knowledge and learning management. In particular, the individual level, the base of the emergent behavior of the system, is composed of a module of perception/interpretation, an executing module and a behavioral module that has an emotional component, a reactive component, a cognitive component and a social component. In this paper, we analyze the robot performance, in order to produce an emergent behavior in the system. We present an example of an emergent scenario, and study its instantiation in our multi-robot architecture.