Efficient distributed algorithm of dynamic task assignment for swarm robotics

Authors:
Rafael Mathias de Mendonça;Nadia Nedjah;Luiza de Macedo Mourelle
Affiliations:
Department of Electronics Engineering and Telecommunications, Faculty of Engineering, State University of Rio de Janeiro, Brazil;Department of Electronics Engineering and Telecommunications, Faculty of Engineering, State University of Rio de Janeiro, Brazil;Department of Systems Engineering and Computation, Faculty of Engineering, State University of Rio de Janeiro, Brazil
Venue:
ICCSA'13 Proceedings of the 13th international conference on Computational Science and Its Applications - Volume 1
Year:
2013

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Abstract

This paper proposes a distributed control algorithm to im- plement dynamic task allocation in a swarm robotics environment. In this context, each robot that integrates the swarm must run the algorithm periodically in order to control the underlying actions and decisions. The algorithm was implemented and extensively tested. The corresponding performance and effectiveness are promising.