Self-organizing method for collaboration in multi-robot system on basis of balance principle

Abstract

By analyzing the operation characteristics of two subtasks that have resource dependency on each other, this paper demonstrates the impact of progress relation between the two subtasks on the whole task’s progress, and then puts forward a self-organizing principle called balance principle that keeps the individual profit between robots equal. Furthermore, an algorithm is designed for adjusting subtask selection on the basis of this principle. Simulation shows the validity of the algorithm on self-organizing task allocation in a multi-robot system.

References

1. Arai T Pagello E Paker L E Editorial: Advances in multi-robot systemsIEEE Transaction on Robotics and Automation 2002 18(5)655661. doi:10.1109/TRA.2002.806024
2. Cao Y U Fukunaga A S Kahng A B Cooperative mobile robotics: Antecedents and directionsAutonomous Robotics 1997 4(1)727. doi:10.1023/A:1008855018923
3. Xi Y G Cheng W D Towards intelligentizing robotsand cooperative multi-robot systemAutomationReview, Collection of the 20th Anniversary149152
4. Steels Luc Cooperationbetween distributed agents through self-organizationIn: Proceedings of IEEE International Workshop on Intelligent Robotsand System 1990 814
5. Naoki Mitsumoto Toshio Fukuda Fumihito Arai Self-organizing multiple robotic systemIn: Proceedings of IEEE International Conference on Robotics and Automation 1996 16141619
6. Ding Y Y He Yan Jiang J P Self-organizing multi-robot system based personality evolutionIn: Proceedings of IEEE International Conferenceon System, Man and Cybernetics 2002 547
7. Wu Z Z Xi Y G Coordination control for multi-robotsystem based on rational principleActaAutomatica Sinica 2000 26(4)454460
8. Sheng Z Xie S Q Pan C Y Probability and Mathematics for Engineers. 3rd edBeijingHighEducation Press 2001 109128