Specialization as an Optimal Strategy Under Varying External Conditions

We present an investigation of specialization when considering the execution of collaborative tasks by a robot swarm. Specifically, we consider the stick-pulling problem first proposed by Martinoli et al. [1], [2] and develop a macroscopic analytical model for the swarm executing a set of tasks that require the collaboration of two robots. We show, for constant external conditions, maximum productivity can be achieved by a single species swarm with carefully chosen operational parameters. While the same applies for a two species swarm, we show how specialization is a strategy best employed for changing external conditions.


Published in:
Proc. of the 2009 IEEE Int. Conf. on Robotics and Automation, 1941-1946
Presented at:
IEEE Int. Conf. on Robotics and Automation, Kobe, Japan, 2009
Year:
2009
Laboratories:




 Record created 2011-05-27, last modified 2018-09-13

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