Analysis of Dynamic Task Allocation in Multi-Robot Systems
International Journal of Robotics Research
Optimized stochastic policies for task allocationin swarms of robots
IEEE Transactions on Robotics
Algorithms for the analysis and synthesis of a bio-inspired swarm robotic system
SAB'06 Proceedings of the 2nd international conference on Swarm robotics
Modeling and Optimal Centralized Control of a Large-Size Robotic Population
IEEE Transactions on Robotics
| Hi-index | 0.00 |
We consider the dynamic assignment and reassignment of a homogeneous robot ensemble to multiple spatially located tasks with deterministic or near-deterministic task execution times. Similar to Halasz et al. and Berman et al., we consider the development of agent-level, i.e. microscopic, stochastic control policies through the analysis of an appropriate macroscopic analytical model that describes the dynamics of the ensemble. Specifically, we present an approach to better approximate the effects of deterministic microscopic time delays at the macroscopic level based on Pad脙© approximants. We present, analyze, and compare the frequency response of our approach to that presented by Berman et al. using different agent-based simulations.