Swarm intelligence: from natural to artificial systems
Swarm intelligence: from natural to artificial systems
Murdoch: publish/subscribe task allocation for heterogeneous agents
AGENTS '00 Proceedings of the fourth international conference on Autonomous agents
Stigmergy, self-organization, and sorting in collective robotics
Artificial Life
Mobile Robot Miniaturisation: A Tool for Investigation in Control Algorithms
The 3rd International Symposium on Experimental Robotics III
Distributed Robotic Manipulation: Experiments in Minimalism
The 4th International Symposium on Experimental Robotics IV
Learning and Measuring Specialization in Collaborative Swarm Systems
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Dynamic Polyethism and Competition for Tasks in Threshold Reinforcement Models of Social Insects
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Allocating tasks in extreme teams
Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems
Performance Evaluation of Repeated Auctions for Robust Task Execution
SIMPAR '08 Proceedings of the 1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots
Optimized stochastic policies for task allocationin swarms of robots
IEEE Transactions on Robotics
Communication in a swarm of miniature robots: the e-Puck as an educational tool for swarm robotics
SAB'06 Proceedings of the 2nd international conference on Swarm robotics
Repeated auctions for robust task execution by a robot team
Robotics and Autonomous Systems
Self-organized task allocation for computing systems with reconfigurable components
IPDPS'06 Proceedings of the 20th international conference on Parallel and distributed processing
Multi-agent role allocation: issues, approaches, and multiple perspectives
Autonomous Agents and Multi-Agent Systems
Towards efficient multiagent task allocation in the RoboCup Rescue: a biologically-inspired approach
Autonomous Agents and Multi-Agent Systems
Swarm-like Methodologies for Executing Tasks with Deadlines
Journal of Intelligent and Robotic Systems
Self-organized task allocation to sequentially interdependent tasks in swarm robotics
Autonomous Agents and Multi-Agent Systems
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In this paper we present three scalable, fully distributed, threshold-based algorithms for allocating autonomous embodied workers to a given task whose demand evolves dynamically over time. Individuals estimate the availability of work based solely on local perceptions. The differences among the algorithms lie in the threshold distribution among teammates (homogeneous or heterogeneous team), in the mechanism used for establishing threshold values (fixed, parameter-based or variable, rule-based), and in the sharing (public) or not sharing (private) of demand estimations through local peer-to-peer communication. We tested the algorithms" efficiency and robustness in a collective manipulation case study concerned with the clustering of initially scattered small objects. The aggregation experiment has been studied at two different experimental levels using a microscopic model and embodied simulations. Results show that teams using a number of active workers dynamically controlled by one of the allocation algorithms achieve similar or better performances in aggregation than those characterized by a constant team size while using on average a considerably reduced number of agents over the whole aggregation process. While differences in efficiency among the algorithms are small, differences in robustness are much more apparent. Threshold variability and peer-to-peer communication appear to be two key mechanisms for improving worker allocation robustness against environmental perturbations.