Group Behavior on Emergency Mode Transferring in Autonomous MultiRobot Systems with Subgroups On realizing group behaviors of an autonomous multirobot system, designing local interaction among autonomous robots in groups is one of the key research issues. Not limiting maintaining stable group formation, transferring some emergency mode rapidly in a large group is another important group behavior mimicking a swarm of fishes or birds. In this paper, we proposed a mechanism for group emergency stopping in multimobile robot system, which is based on motion control of multilane highway traffic. Swarm effects of emergency mode transferring for cases with individual urgent stopping source and common urgent stop source are addressed, and simulationbased analysis are provided for illustrating the validity of group emergency stop mechanism and analyzing the swarm effects with subgroups. Additionally, an Attention Mode and its implementation mechanism is proposed for enhancing the swarm effects while urgent stopping source happens in different timing to different subgroup.

Towards situational awareness from robotic group motion The control of multiple robots in the context of teleexploration tasks is often attentionally taxing, resulting in a loss of situational awareness for operators. Unmanned aerial vehicle swarms require significantly more multitasking than controlling a plane, thus making it necessary to devise intuitive feedback sources and control methods for these robots. The purpose of this article is to examine a swarmu0027s nonverbal behaviour as a possible way to increase situational awareness and reduce the operators cognitive load by soliciting intuitions about the swarmu0027s behaviour. To progress on the definition of a database of nonverbal expressions for robot swarms, we first define categories of communicative intents based on spontaneous descriptions of common swarm behaviours. The obtained typology confirms that the first two levels (as defined by Endsley: elements of environment and comprehension of the situation) can be shared through swarms motionbased communication. We then investigate group motion parameters potentially connected to these communicative intents. Results are that synchronized movement and tendency to form figures help convey meaningful information to the operator. We then discuss how this can be applied to realistic scenarios for the intuitive command of remote robotic teams.