R 6621 Copyright © 2015, IGI Global. Copying or distributing in print or electronic forms without written permission of IGI Global is prohibited. Category: Robotics DOI: 10.4018/978-1-4666-5888-2.ch651 Dynamical Systems Approach for Predator-Prey Robot Behavior Control via Symbolic Dynamics Based Communication 1. INTRODUCTION The study of complex systems (Badii & Politi, 1997; Macau & Grebogi, 1999) has created a lot of research interests especially due to its diverse applications in science, engineering, management and biological sys- tems. These exhibit emergent behavior that is neither completely ordered and predictable, nor completely random and unpredictable. It produces patterns and hierarchy of structures which emerge due to its attractor dynamics (Grassberger, 1991; Poon & Grebogi, 1995). Artificial intelligence, adaptive networks, collective intelligence, and chaos fall under this category. Out of these, chaotic system is the area under investigation in this work. Chaotic systems can be controlled through the technique of chaos synchronization (Pecora & Carroll, 1990). It involves the coupling of two cha- otic systems so that both achieve identical dynamics asymptotically with time. Such non-linear systems have been effectively used in a plethora of engineering and scientific applications (Maoyin, 2008; Fallahi & Leung, 2010; Mukhopadhyay et al., 2010; Fan et al., 2010; Banerjee et al., 2012). An emergent area of robotics is based upon the paradigm of behavior-based robotics and it deals with an entirely different information flow structure than that of the classical artificial intelligent systems. This work presents an application of a nonlinear biological system in the area of chaos navigation with mobile robots and accomplishment of its control. The objec- tive is to extend the phase synchronization of identical unidirectional coupled chaotic food webs (Blasius & Stone, 2000; Stone & He, 2007) in a robot foraging task. Chaotic synchronization promotes cooperative task achievement. Collaborative mobile robot exploration is achieved through noise aided synchronization of a two–wheeled mobile robot that follows the predator – prey dynamics. Thus, a bio-inspired mobile robotic design is proposed for the task of coverage of a work- space that is completed when a specified portion of the workspace is explored. 2. BACKGROUND Robots are a complex dynamical system characterized through statistical measures and mathematical expres- sions describing the system dynamics. Cooperative robots accomplish the goal of workspace coverage faster than an atomic robot (Cao et al., 1997). Effec- tive collision-free robot motion and coverage, planning (Shiller & Gwo, 1991; Klomkam & Sooraksa, 2004; Yang & Luo. 2004; Hazan, et. al, 2006; Willms & Yang, 2006; Fallahi & Leung, 2010; Volos & Kyprianidis, 2012), robustness of synchronous speeds against robot and communication failures (Zang et al., 2006) are important issues in robotics currently under research. In order to execute cooperative task assignment, control strategies must be formulated. Over the past few years, research has been conducted to propose methods that ensure a chaotic navigation of the search space (Sekiguchi & Nakamura, 2001) based on the chaotic features of sensitive dependence on ini- tial conditions and topological transivity. Recently, a dynamical perspective has paved its way into cognitive science (Garson, 1996; Beer, 2000; Nehmzow, 2006; Khansari-Zadeh & Billard, 2012). Such an approach implies that the process of natural cognition is dynami- Sumona Mukhopadhyay University of Calgary, Canada Henry Leung University of Calgary, Canada