Abstract
In this paper, some previously implemented notions on robot navigation, collision avoidance and simultaneous target interception are examined and reimplemented on a decentralised autonomous robot group. The key contribution here is a hybrid control approach with emphasis on minimalist communication and no a priori information for negotiating scenarios such as interception, obstacle avoidance and maintaining desired separation among groups. An algorithmic implementation of the hybrid control is presented. Also, we extend the ideas from our previous work, namely, the use of Kripke Models to represent a system in an intuitive, yet formal manner and proof-check our proposed control strategies using model checking.
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