TY - GEN
T1 - Proportion regulation for division of labor in multi-robot system
AU - Suseki, Kohei
AU - Sugawara, Ken
AU - Mizuguchi, Tsuyoshi
AU - Kosuge, Kazuhiro
PY - 2005/12/1
Y1 - 2005/12/1
N2 - Division of labor performed by social insects, such as ants and bees, is one of the most advanced functions that they have evolved. Although individual insects have the same inheritance, they are divided into certain groups in which they play specialized roles. For effective performance, the groups exhibit proportional regulation of population, which implies regulating their population to maintain their proportion; further the proportion of each group is regulated against external disturbances without aid from a special individual. In a multi-robot system, the division of labor is one of the most attractive and useful propositions. This paper addresses the proportion regulation of population in a homogenous multi-robot system, which is inspired by the task allocation practiced by social insects. We propose an extended probability model for proportion regulation, and confirm its performance by numerical simulation. We also experimentally validate its performance using a simple multi-robot system.
AB - Division of labor performed by social insects, such as ants and bees, is one of the most advanced functions that they have evolved. Although individual insects have the same inheritance, they are divided into certain groups in which they play specialized roles. For effective performance, the groups exhibit proportional regulation of population, which implies regulating their population to maintain their proportion; further the proportion of each group is regulated against external disturbances without aid from a special individual. In a multi-robot system, the division of labor is one of the most attractive and useful propositions. This paper addresses the proportion regulation of population in a homogenous multi-robot system, which is inspired by the task allocation practiced by social insects. We propose an extended probability model for proportion regulation, and confirm its performance by numerical simulation. We also experimentally validate its performance using a simple multi-robot system.
KW - Multi-robot system
KW - Proportion regulation
KW - Stock materials
KW - Task allocation
UR - http://www.scopus.com/inward/record.url?scp=79957972225&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79957972225&partnerID=8YFLogxK
U2 - 10.1109/IROS.2005.1545400
DO - 10.1109/IROS.2005.1545400
M3 - Conference contribution
AN - SCOPUS:79957972225
SN - 0780389123
SN - 9780780389120
T3 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 2800
EP - 2805
BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
Y2 - 2 August 2005 through 6 August 2005
ER -