Self-Organised Task Allocation in a Group of Robots
Robot foraging, a frequently used test application for collective robotics, consists in a group of robots retrieving a set of opportunely defined objects to a target location. A commonly observed experimental result is that the retrieving efficiency of the group of robots, measured for example as the number of units retrieved by a robot in a given time interval, tends to decrease with increasing group sizes. In this paper we describe a biology inspired method for tuning the number of foraging robots in order to improve the group efficiency. As a result of our experiments, in which robots use only locally available information and do not communicate with each other, we observe self-organised task allocation. This task allocation is effective in exploiting mechanical differences among the robots inducing specialisation in the robots activities.
KeywordsIdleness Time Task Allocation Allocation Mechanism Mechanical Difference Single Robot
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