Mathematical Modeling and Analysis on Cooperative Foraging of Swarm Robots

A mathematical model for cooperative foraging is proposed according to the macro state transitions of individual robots.The mathematical model consists of a series of coupled differential rate equations which can describe the dynamics of group behavior and be used to analyze the benefits of cooperative foraging with the change of waiting time.Simulation experiments indicate that the predictive results of the mathematical model agree properly with the data obtained from the simulation experiments.