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Swarm robots are composed of a certain number of physical robots. Through interaction and cooperation, individuals in this kind of system can sprout robust, scalable and flexible swarm intelligence behavior. Behavior modeling of swarm robots is one of the basic methods for scientific analysis of such systems, and it is also an important basis for its capability evaluation. The research and analysis of behavior model of swarm robots is helpful to understand its behavior mechanism. Firstly, this paper summarizes the main characteristics of swarm robots, and lists and summarizes several typical spatial cooperation behaviors of swarm robots. On this basis, the spatial cooperation behavior of swarm robots is classified, and the modeling methods of spatial cooperation behavior of cluster robots are summarized and expounded, including graph theory, bionic model, dynamic model and learning model. Various modeling methods are analyzed and compared from the multi-dimensional aspects of method overview, application examples and applicable scenes. Finally, the problems of spatial cooperative behavior modeling of swarm robots to be further studied are put forward, and possible research directions in the future are prospected, so as to better support the evaluation and optimization design of swarm robots. The purpose of this paper is to enable relevant researchers to comprehensively and systematically understand the spatial cooperative behavior modeling method of swarm robots. |
