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Self-organizing method for collaboration in multi-robot
system on basis of balance principle |
| DONG Yangbin, JIANG Jinping, HE Yan |
| Electrical Engineering School, Zhejiang University; |
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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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Issue Date: 05 September 2008
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