A Swarm Robotics Approach to Task Allocation under Soft Deadlines and Negligible Switching Costs
نویسندگان
چکیده
Developing swarm robotics systems for real-time applications is a challenging mission. Task deadlines are among the kind of constraints which characterize a large set of real applications. This paper focuses on devising and analyzing a task allocation strategy that allows swarm robotics systems to execute tasks characterized by soft deadlines and to minimize the costs associated with missing the task deadlines.
منابع مشابه
Analysis of long-term swarm performance based on short-term experiments
Swarm robotics is a branch of collective robotics systems that offers a set of remarkable advantages over other systems. The global behavior of swarm systems emerges from the local rules implemented at the individual level. Therefore, characterizing a global performance obtained at the swarm level is one of the main challenges, especially under complex dynamics such as spatial interferences. In...
متن کاملCoordination Through Institutional Roles in Robot
In this paper, we demonstrate the benefit of role allocation in a collective of autonomous robots performing a simple transport task. We demonstrate that, under certain conditions, the performance of the collective can be improved when a subset of the robots assume institutional roles as traffic regulators. The concept of institutional roles is part of a highlevel approach to the control of mul...
متن کاملTask allocation in robot swarms for time-constrained tasks
Robotic systems offer auspicious solutions for many real life applications, where robots can replace humans in many dangerous and critical tasks. A promising branch of robotic systems is swarm robotics. This branch has stimulated a significant interest by researchers belonging to different fields such as biology, mathematics, computer science and robotics. A swarm robotics system consists of a ...
متن کاملOn the evolution of self-organised role-allocation and role-switching behaviour in swarm robotics: a case study
In spite of its significance for the adaptability of autonomous robotic swarms, the dynamic allocation and re-distribution of robots to tasks (i.e., role-allocation and role-switching behaviour) is still a design challenge in swarm robotics. This study investigates a simulated foraging scenario in which the variability of the environmental conditions requires that robots switch between two role...
متن کاملTask Allocation in Swarm Robotics pdfsubject
In this work, we propose a method for self-organized task partitioning and allocation. The current state of the art provides neither an abstract understanding of task allocation problems in self-organized swarm systems, nor tools for modeling and designing such systems. We present the first steps towards a unified method capable of exactly this. We analyse the problem and provide a structured a...
متن کامل