Self-organized task allocation to sequentially interdependent tasks in swarm robotics

被引：80

作者：

Brutschy, Arne ^{[1
]}

Pini, Giovanni ^{[1
]}

Pinciroli, Carlo ^{[1
]}

Birattari, Mauro ^{[1
]}

Dorigo, Marco ^{[1
]}

机构：

[1] Univ Libre Bruxelles, IRIDIA, Brussels, Belgium

来源：

AUTONOMOUS AGENTS AND MULTI-AGENT SYSTEMS | 2014年 / 28卷 / 01期

基金：

欧洲研究理事会;

关键词：

Swarm robotics; Foraging; Self-organization; Task allocation; Swarm intelligence; Multi-agent systems; DIVISION-OF-LABOR; INSECT SOCIETIES;

D O I：

10.1007/s10458-012-9212-y

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this article we present a self-organized method for allocating the individuals of a robot swarm to tasks that are sequentially interdependent. Tasks that are sequentially interdependent are common in natural and artificial systems. The proposed method does neither rely on global knowledge nor centralized components. Moreover, it does not require the robots to communicate. The method is based on the delay experienced by the robots working on one subtask when waiting for input from another subtask. We explore the capabilities of the method in different simulated environments. Additionally, we evaluate the method in a proof-of-concept experiment using real robots. We show that the method allows a swarm to reach a near-optimal allocation in the studied environments, can easily be transferred to a real robot setting, and is adaptive to changes in the properties of the tasks such as their duration. Finally, we show that the ideal setting of the parameters of the method does not depend on the properties of the environment.

引用

页码：101 / 125

页数：25

共 37 条

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