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Self-organizing method for collaboration in multi-robot system on basis of balance principle

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Abstract

By analyzing the operation characteristics of two subtasks that have resource dependency on each other, this paper demonstrates the impact of progress relation between the two subtasks on the whole task’s progress, and then puts forward a self-organizing principle called balance principle that keeps the individual profit between robots equal. Furthermore, an algorithm is designed for adjusting subtask selection on the basis of this principle. Simulation shows the validity of the algorithm on self-organizing task allocation in a multi-robot system.

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Authors and Affiliations

  1. Electrical Engineering School, Zhejiang University, Hangzhou, 310027, China

    Yangbin Dong, Jinping Jiang & Yan He

Authors
  1. Yangbin Dong
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  2. Jinping Jiang
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  3. Yan He
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Corresponding author

Correspondence to Yangbin Dong.

Additional information

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Translated from Chinese Journal of Scientific Instrument, 2007, 28(2): 224–228 [译自: 仪器仪表学报]

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Dong, Y., Jiang, J. & He, Y. Self-organizing method for collaboration in multi-robot system on basis of balance principle. Front. Mech. Eng. China 3, 283–287 (2008). https://doi.org/10.1007/s11465-008-0044-z

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  • DOI: https://doi.org/10.1007/s11465-008-0044-z

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