We propose an approach for autonomous task partitioning in swarms of foraging robots. Task partitioning is the process of decomposing tasks into sub-tasks. Task partitioning impacts tasks execution and associated costs. Our approach is characterized by the use of a cost function, mapping the size of sub-tasks to the overall task cost. The robots model the cost function and use the model to sele...

We describe a general mechanism for adaptation in multiagent systems in which agents modify their behavior based on their memory of past events. These behavior changes can be elicited by environmental dynamics or arise as response to the actions of other agents. The agents use memory to estimate the global state of the system from individual observations and adjust their actions accordingly. We...

This paper addresses the issue of applying decentralised task allocation and task switching mechanisms in heterogeneous groups of robots in order to increase their ability to respond to task demand effectively. Our work is strongly inspired by the behaviour of eusocial insects (typically ants) and their behaviour of switching tasks in order to meet the changing demand. The objective of this pap...

This paper describes two measures of performance that can be used to allocate tasks in a multirobot foraging problem. These heuristics can be used by a human supervisor or an automated control algorithm to adjust the number of robots exploring the environment versus the number of robots greedily harvesting based on current knowledge. A numerical simulation study is presented that offers prelimi...

In this demonstration we illustrate the direct usage of the principles of bee-inspired coordination in swarm intelligence on multi-robot systems. We present the first results of this implementation, where a subset of the bee algorithms are implemented on multiple turtlebot robots with the goal to simulate a food foraging application. For this we implemented means for locally detecting the locat...

A significant goal of robotics is to develop autonomous machines, capable of independent and collective operation free from human assistance. To operate with complete autonomy robots must be capable of independent movement and total energy self-sufficiency. We present the design of a soft robotic mouth and artificial stomach for aquatic robots that will allow them to feed on biomatter in their ...

Swarm Robotics is an area of active research interest where groups of robots coordinate and perform collective tasks. Existing approaches to Learning and Collective Decision Making amongst a group of robots is complex. In this paper, we propose a simple model of learning and collective decision making in honey bees engaged in foraging for suitable nectar-sites. Our simple model takes into consi...

Developing a realistic animal-like highly organized swarm system, which is capable to adapt to environmental changes as well as dynamic situations is undoubtedly complex. A good labour division model, which can regulate and achieve an efficient work distribution among swarm agents is a crucial element for this kind of systems. In this paper, we analyze and compare the use of an extended model o...

In this paper, we have extended a macroscopic probabilistic model of a swarm of homogeneous foraging robots to a swarm of heterogeneous foraging robots. Each robot is capable of adjusting its searching time threshold and resting time threshold following the rules described in our previous paper. In order to model the difference between robots, private resting time and searching time thresholds ...