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This paper presents a behavior-based solution to the problem of observing multiple mobile targets by multiple mobile robots. Robots sense targets using sensors and in addition exchange information about them with other robots. Workload is shared between different robots by requesting help when targets are escaping and supporting robots requesting such help. We provide a detailed description of the proposed solution, as well as significant simulation tests to outline its performance. The described approach outperforms formerly proposed solutions
Kolling et al. (2006) studied this question.