Proportion regulation for division of labor in multi-robot system

Kohei Suseki, Ken Sugawara, Tsuyoshi Mizuguchi, Kazuhiro Kosuge

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ページ2800-2805
ページ数6
DOI
出版ステータスPublished - 2005 12 1
イベントIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
継続期間: 2005 8 22005 8 6

出版物シリーズ

名前2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

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

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

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