An Extended Simulation of Complex Task Partitioning Method in a Self-organized Robotics Swarm

Interference and specially one of the most common kinds of it which is also known as physical interference, is among the most critical problems in terms of multi-robot cooperation. A simple way reducing interference is to make robots remain in unique work areas and move the objects to the next robot as soon as they intersect their areas’ borders. The problem of interference reduction, in this article, was investigated using complex task partitioning in the self-organized robotic swarms. The presented method is simulated, which eliminates some of the previous simulations’ limitations in many domains including the number and robots’ speed. These developments contribute to a more real impression of the natural world problems. The results show improvements in terms of operation cost.