Intelligent

Abstract — In this paper a set of metrics that measures the per-formance of collective movement of mobile robots is proposed and discussed. Coordination of movement of robot groups represents a basic problem in multi robotics: individuals must move together as a group maintaining certain relative positions between them. The different metrics proposed here cover several aspects of the characteristics of the collective movement including: those related to the area and shape of the group, the movement, the positioning and orientation of its members, and the efficiency and success of the algorithms. Some of them can be used as a benchmark, while others might be useful to characterize the algorithms in terms of group behavior. I