This paper presents a mathematical model of multi robot cooperative hunting behavior. Multiple robots try to search for and\nsurround a prey.When a robot detects a prey it forms a following team.When another ââ?¬Å?searchingââ?¬Â robot detects the same prey, the\nrobots form a new following team. Until four robots have detected the same prey, the prey disappears from the simulation and the\nrobots return to searching for other prey. If a following team fails to be joined by another robot within a certain time limit the team is\ndisbanded and the robots return to searching state.The mathematical model is formulated by a set of rate equations. The evolution\nof robot collective hunting behaviors represents the transition between different states of robots. The complex collective hunting\nbehavior emerges through local interaction.The paper presents numerical solutions to normalized versions of the model equations\nand provides both a steady state and a collaboration ratio analysis. The value of the delay time is shown through mathematical\nmodeling to be a strong factor in the performance of the system as well as the relative numbers of the searching robots and the prey.
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