Distributed sequential task allocation in foraging swarms


When designing a practical swarm robotics system, self-organized task allocation is key to make best use of resources. Current research in this area focuses on task allocation which is either distributed (tasks must be performed at different locations) or sequential (tasks are complex and must be split into simpler sub-tasks and processed in order). In practice, however, swarms will need to deal with tasks which are both distributed and sequential. In this paper, a classic foraging problem is extended to incorporate both distributed and sequential tasks. The problem is analysed theoretically, absolute limits on performance are derived, and a set of conditions for a successful algorithm are established. It is shown empirically that an algorithm which meets these conditions, by causing emergent cooperation between robots can achieve consistently high performance under a wide range of settings without the need for communication.

Publication DOI: https://doi.org/10.1109/SASO.2013.14
Divisions: College of Engineering & Physical Sciences > Systems analytics research institute (SARI)
College of Engineering & Physical Sciences > School of Informatics and Digital Engineering > Computer Science
College of Engineering & Physical Sciences > School of Informatics and Digital Engineering > Mathematics
Additional Information: © 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Event Title: 7th International Conference on Self-Adaptive and Self-Organizing Systems
Event Type: Other
Event Dates: 2013-09-09 - 2013-09-13
Uncontrolled Keywords: self-organizing systems,evolutionary computing,resource allocation,swarm intelligence
ISBN: 978-0-7695-5129-6
Full Text Link: http://ieeexplo ... rnumber=6676502
Related URLs: http://www.scop ... tnerID=8YFLogxK (Scopus URL)
PURE Output Type: Conference contribution
Published Date: 2013-09-11
Authors: Goldingay, Harry (ORCID Profile 0000-0001-6402-937X)
van Mourik, Jort (ORCID Profile 0000-0002-3172-2714)



Version: Accepted Version

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