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This paper shows a system composed of multiple robots which cooperate each other through local communications, in order to search a goal of a given maze. Though a diameter of an each robot is 40 mm and it equips with a very simple algorithm, each robot plays a part to find the goal of an unknown maze as a whole system. In this study, a computer simulator has been also developed in order to examine the validity of designed algorithms.

The system that multi autonomous robots with 40 mm diameter remove fragments from a narrow passage by a bucket brigade has been studied. In this system, under the condition of narrow passage and none of robots passing each other, multi robots with limited functions and simple algorithms remove fragments efficiently and deliver them cooperatively.In this study, computer simulations have been carried out to extract the subject of functions and algorithms of the robot. As a result, it has been found that the time interval between each robots is important for the smooth bucket brigade without fragments stagnation or their threefold collision with any initial interval. Both algorithms with a communication function and a pair of front and rear touch sensors of a robot have been prepared in order that the distributed robots can adjust their interval autonomously and their algorithms have been attempted to apply to actual robots.

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