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Mathematical Problems in Engineering
Volume 2016, Article ID 4370635, 7 pages
Research Article

Method of Quantitative Analysis for Multirobot Cooperative Hunting Behaviors

School of Mechanical, Electrical and Information Engineering, Shandong University at Weihai, Weihai 264209, China

Received 17 February 2016; Accepted 2 August 2016

Academic Editor: Ricardo Aguilar-López

Copyright © 2016 Yong Song et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The kinematic behavior of mobile robots can be represented as functions of time. During the operation of a multirobot system, the orbit of a special robot is recorded. The embedding dimension and the delay time are chosen based on the correlation integral method. A chaotic attractor equivalent to the original system is reconstructed in phase space. The multirobot system can be adequately described based on the phase space information, and the dynamic system states can be forecast based on this information. The eigenvalues of the attractor are calculated including the maximum Lyapunov exponent and correlation dimension. The robot collective behavior is described and analyzed quantitatively based on the eigenvalues. The critical factor that affects the interaction of robots is investigated based on quantified parameters. Our analysis results can be used to improve the understanding of robot interaction mechanisms.