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

2008年第3卷第3期

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《机械工程前沿（英文）》 >> 2008年第3卷第3期 doi: 10.1007/s11465-008-0044-z

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

Electrical Engineering School, Zhejiang University;

发布日期： 2008-09-05

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摘要

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.

关键词

algorithm ; self-organizing principle ; validity ; Simulation ; allocation