Design and Experimental Validation of Dynamic Model of Multi Robot System

In a multi-robot system, following the leader is a challenge since the robot must detect the leader first and then responding accordingly. So, in this paper, the motion control of a group of robots is achieved based on the dynamic model of the collective motion behavior of the aggregation of Artemia, a creature that follows a spotlight. Modeling the collective behavior of Artemia that follows the spotlight will be inspiring for modeling a collective of robots that achieves the same tasks. The model is based on the newton equation and its parameters will be calculated directly from the features of the multi-robot system. Several experiments will be implemented to check the behavior of the proposed system, which is divided into four experiments according to four trajectories, the straight line, circle, zigzag and complex path pattern. The V-rep software is used to derive and simulate the proposed design, also test its performance.