In this work, we propose a method for self-organized adaptive task partitioning in a swarm of robots. Task partitioning refers to the decomposition of a task into less complex subtasks, which can then be tackled separately. Task partitioning can be observed in many species of social animals, where it provides several benefits for the group. Selforganized task partitioning in artificial swarm sy...

Path planning related to mobile robots is the construction of the collision free trajectories that direct robots towards their goal. In this paper, a bio inspired approach based on the foraging behaviour of the bacteria (E-coli) has been proposed to design an optimal path for the robot. The present approach admires that the mobile robot is capable of reaching the goal by following the optimum p...

Dynamic task allocation is a necessity in a group of robots. Each member should decide its own task such that it is most commensurate with its current state in the overall system. In this work, the response threshold model is applied to a dynamic foraging task. Each robot employs a task switching function based on the local task demand obtained from the surrounding environment, and no communica...

Light-weight flexible arms will most likely constitute the next generation robots due to their large payload carrying capacities at high speeds and less power demand. Control problem of robots with flexible members is more complex compared to rigid robots due to vibrations during the motion. This paper presents the social foraging behavior of Escherichia coli bacteria to optimize hybrid Fuzzy P...

In this work, we study task partitioning in the context of swarm robotics. Task partitioning refers to the decomposition of a task into sub-tasks that can be tackled by different workers. In this work, we focus on the case in which a task is partitioned into a sequence of sub-tasks that must be executed in a certain order. This implies that the sub-tasks must interface with each other, and that...

Research of autonomous mobile robots has mostly emphasized interaction and coordination that are natually inspired from biological behavior of birds, insects, and fish: flocking, foraging, collecting, and sharing. However, most research has been only focused on autonomous behaviors in order to perform robots like animals, whereas it is lacked of determinant to those behaviours: energy. Approach...

Designing and implementing cooperative group behaviors for robots is considered something of a black art involving an extensive amount of reprogramming and parameter adjustment. What seems to be lacking is a pragmatic, practical, general-purpose tool that would both guide the design and structure the evaluation of controllers for distributed real-world multi-robot tasks. In this paper, we propo...

Multiagent schema-based reactive robotic systems are complemented with the addition of a new behavior controlled by a human operator. This enables the whole society to be a ected as a group rather than forcing the operator to control each agent individually. The operator is viewed by the reactive control system as another behavior exerting his/her in uence on the society as a whole. The operato...