Distributed Bees Algorithm for Task Allocation in Swarm of Robots

被引:73
作者
Jevtic, Aleksandar [1 ]
Gutierrez, Alvaro [2 ]
Andina, Diego [1 ]
Jamshidi, Mo [3 ]
机构
[1] Tech Univ Madrid, Dept Signals Syst & Radiocommun, Madrid 28040, Spain
[2] Univ Politecn Madrid, ETSI Telecomunicac, E-28040 Madrid, Spain
[3] Univ Texas San Antonio, Dept Elect & Comp Engn, San Antonio, TX 78249 USA
来源
IEEE SYSTEMS JOURNAL | 2012年 / 6卷 / 02期
关键词
Multirobot systems; scalability; swarm intelligence; task allocation; DIVISION-OF-LABOR; MULTIROBOT; COORDINATION;
D O I
10.1109/JSYST.2011.2167820
中图分类号
TP [自动化技术、计算机技术];
学科分类号
080201 [机械制造及其自动化];
摘要
In this paper, we propose the distributed bees algorithm (DBA) for task allocation in a swarm of robots. In the proposed scenario, task allocation consists in assigning the robots to the found targets in a 2-D arena. The expected distribution is obtained from the targets' qualities that are represented as scalar values. Decision-making mechanism is distributed and robots autonomously choose their assignments taking into account targets' qualities and distances. We tested the scalability of the proposed DBA algorithm in terms of number of robots and number of targets. For that, the experiments were performed in the simulator for various sets of parameters, including number of robots, number of targets, and targets' utilities. Control parameters inherent to DBA were tuned to test how they affect the final robot distribution. The simulation results show that by increasing the robot swarm size, the distribution error decreased.
引用
收藏
页码:296 / 304
页数:9
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