Abstract
This paper focuses on the general problem of coordinating multiple robots. More specifically, it addresses the self-election of heterogeneous specialized tasks by autonomous robots, as opposed to the usual multi-tasks allocation problem in multi-robot systems in which an external controller distributes the existing tasks among the individual robots. We are rather interested on decentralized solutions in which the robots themselves, autonomously and in an individual manner, select a particular task so that all the existing tasks are optimally distributed and executed. In this regard, we establish an experimental scenario and we propose a bio-inspired solution based on threshold models to solve the corresponding multi-tasks distribution problem. The paper ends with a critical discussion of the experimental results.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Parker, L.E.: Multiple Mobile Robot Systems. In: Bruno, S., Oussama, K. (eds.) Springer Handbook of Robotics, pp. 921–941. Springer, Heidelberg (2008)
Braunl, T.: Embedded Robotics: Mobile Robot Design and Applications with Embedded Systems, p. 246 (2006)
Huntsberger, T., Trebi-Ollennu, A., Aghazarian, H., Schenker, P.: Distributed Control of Multi-robot System Engaged in Tightly Coupled Tasks. journal autonomous robots, 79–92 (2004)
Farinelli, A., Locchi, L., Nardi, D.: Multirobot Systems: A Classification Focused on Coordination. IEEE Transactions on Systems, Man and Cybernetics, 2015–2028 (2004)
Oster, G., Wilson, E.: Caste and Ecology in the Social Insects. In: Monographs in Population Biology. Princeton Univ. Press, Princeton (1978)
Robinson, G.: Regulation of Division of Labor in Insect Societies. Annu. Rev. Entomol., 637–665 (1992)
Price, R., Tiňo, P.: Evaluation of Adaptive Nature Inspired Task Allocation Against Alternate Decentralised Multiagent Strategies. In: Yao, X., Burke, E.K., Lozano, J.A., Smith, J., Merelo-Guervós, J.J., Bullinaria, J.A., Rowe, J.E., Tiňo, P., Kabán, A., Schwefel, H.-P. (eds.) PPSN 2004. LNCS, vol. 3242, pp. 982–990. Springer, Heidelberg (2004)
Baglietto, M., Cannata, C., Capezio, F., Grosso, A., Sgorbissa, A.: A Multi-robot Coordination System Based on RFID Technology. In: IEEE International Conference on Advanced Robotics, pp. 1–6 (2009)
Yang, Y., Zhou, C., Tian, Y.: Swarm Robots Task Allocation Based on Response Threshold Model. In: IEEE International Conference on Autonomous Robots and Agents, pp. 171–176 (2009)
Dias, B., Stentz, A.: A Free Market Architecture for Distributed Control of a Multirobot System. In: 6th International Conference on Intelligent Autonomous Systems, pp. 115–122 (2000)
Dias, B.: Traderbots: A new Paradigm for Robust and Efficient Multirobot Coordination in Dynamics Environments. Ph.D. dissertation, Robotics Institute, Carnegie Mellon University, Pittsburgh (2004)
Jones, E., Browning, B., Dias, B., Argall, B., Veloso, M., Stentz, A.: Dynamically Formed Heterogeneous Robot Teams Performing Tightly-Coordinated Tasks. In: IEEE Conference on Robotics and Automation, pp. 570–575 (2006)
Shiroma, P., Campos, M.: CoMutaR: A Framework for Multi-robot Coordination and Task Allocation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4817–4824 (2009)
Song, T., Yan, X., Liang, A., Chen, K., Guan, H.: A Distributed Bidirectional Auction Algorithm for Multirobot Coordination. In: IEEE International Conference on Research Challenges in Computer Science, pp. 145–148 (2009)
Lim, C., Mamat, R., Brunl, T.: Market-Based Approach for Multi-team Robot Cooperation. In: IEEE International Conference on Autonomous Robots and Agents, pp. 62–67 (2009)
Bonabeau, E., Theraulaz, G., Deneuborurg, J.: Quantitative Study of the Fixed Threshold Model for the Regulation of Division of Labour in Insects Societies. In: Proceedings Biological Science, pp. 1565–1569 (1996)
Seeley, T., Camazine, S., Sneyd, J.: Collective Decision-Making in Honey Bees: how Colonies Choose Among Nectar Sources. Behavioral Ecology and Sociobiology, 277–290 (1991)
Bonabeau, E., Theraulaz, G., Deneubourg, J.: Fixed Response Thresholds and the Regulation of Division of Labor in Insect Societies. Bulletin of Mathematical Biology, 753–807 (1998)
Gerkey, B., Mataric, M.: Multi-Robot Task Allocation: Analyzing the Complexity and Optimality of Key Architectures. IEEE International Conference on Robotics and Automation, 3862–3868 (2003)
Maravall, D., De Lope, J.: Fusion of Learning Automata Theory and Granular Inference Systems: ANLAGIS. Applications to Pattern Recognition and Machine Learning, Neurocomputing (2010)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Quiñonez, Y., de Lope, J., Maravall, D. (2011). Bio-inspired Decentralized Self-coordination Algorithms for Multi-heterogeneous Specialized Tasks Distribution in Multi-Robot Systems. In: Ferrández, J.M., Álvarez Sánchez, J.R., de la Paz, F., Toledo, F.J. (eds) Foundations on Natural and Artificial Computation. IWINAC 2011. Lecture Notes in Computer Science, vol 6686. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21344-1_4
Download citation
DOI: https://doi.org/10.1007/978-3-642-21344-1_4
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-21343-4
Online ISBN: 978-3-642-21344-1
eBook Packages: Computer ScienceComputer Science (R0)