Fuzzy-logic-based behaviour coordination in a multi-robot system

D. T. Pham, M. H. Awadalla*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


This paper proposes a biologically inspired collective behaviour for a team of cooperating mobile robots. This behaviour is achieved by controlling the local interactions among a team of identical mobile robots performing a set of simple behaviours in the context of tracking a dynamic target. In general, the behaviours of the individual robots have different aims and this may cause conflict. To address this issue, a fuzzy-logic-based approach for the coordination of multiple behaviours in each robot is proposed. Computer simulation of mobile robots tracking a dynamic target is employed to test this approach. The results show an improvement in overall group performance even in a cluttered environment.

Original languageEnglish
Pages (from-to)583-598
Number of pages16
JournalProceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture
Issue number6
Publication statusPublished - Jun 2004
Externally publishedYes


  • Behaviour coordination
  • Fuzzy logic
  • Mobile robots
  • Self-organization
  • Social insects

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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