Cooperated multi robots system has much dominance in comparison with single robot system. Multi robots system is able to adapt to various circumstances and has a flexibility for variation of tasks. Robots are necessary that build a cooperative relations and acts as an organization to attain a purpose in multi robots system. Then, group behavior of insects which doesn't have advanced ability is observed. For example, ants called a sociality insect emerge systematic activities by the interaction with using a very simple way. Though ants make a communication with chemical matter, a human plans a communication by words and gestures. In this paper, we paid attention to the interaction based on psychological viewpoint. And a human's emotion model was used for the parameter which became a base of the motion planning of robots. These robots were made to do both-way action in test field with obstacle. As a result, a burden sharing like guide or carrier was seen even though those had a simple setup.

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SUMMARYCooperative multirobot systems are much superior to single-robot systems. They are able to adapt to various circumstances and they exhibit flexibility of response to various task requests. For effective functioning of a multirobot system, the robots must develop appropriate coordination and organization. In this context we consider the group behavior of insects, which lack advanced individual capabilities. For instance, ants and bees, which are considered social insects, use very simple means of communication such as pheromones or dance movements to perform systematic activities by interaction. The ants have evolved chemical communication, but humans have learned to communicate with words and gestures.In this study, a human emotion model based on psychological interaction was adapted to a multirobot system to achieve methods for organization of multiple robots. This study evaluates the behavior of real robots when this algorithm is used. Specifically the robots move back and forth on a test field with or without an obstacle. Despite the simple experimental design, the results indicate the occurrence of burden sharing which would be impossible with a centralized control system.