Robotic Validation of an Inter-disciplinary Generic Model of Self-regulated Division of Labour in Social Systems
نویسندگان
چکیده
Division of labour (DoL) in multi-robot systems or multi-robot task allocation (MRTA) is a challenging research issue in the field of multi-agent and multi-robot systems. We propose to solve MRTA problems using a set of previously published generic rules for DoL derived from the observation of ant, human and robotic social systems. These bottom-up rules describe the phenomenon of self-regulated DoL in terms of attractive fields between robots and tasks. The concrete form of these rules, the attractive filed model (AFM), avoids the strong dependence on local interactions found in many existing approaches to MRTA. We present experimental results that constitute a first validation of AFM as a mechanism for MRTA and as a multi-disciplinary model of self-organisation in social systems. Our experiments used 16 e-puck robots in a 2m x 2m area.
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