Proportion regulation for division of labor in multi-robot system

Kohei Suseki, Ken Sugawara, Tsuyoshi Mizuguchi, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages2800-2805
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: 2005 Aug 22005 Aug 6

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

OtherIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CountryCanada
CityEdmonton, AB
Period05/8/205/8/6

Keywords

  • Multi-robot system
  • Proportion regulation
  • Stock materials
  • Task allocation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Suseki, K., Sugawara, K., Mizuguchi, T., & Kosuge, K. (2005). Proportion regulation for division of labor in multi-robot system. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2800-2805). [1545400] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2005.1545400