The impact of diversity on performance in multi-robot foraging
Proceedings of the third annual conference on Autonomous Agents
Reinforcement Learning in the Multi-Robot Domain
Autonomous Robots
Emergent Specialization in Swarm Systems
IDEAL '02 Proceedings of the Third International Conference on Intelligent Data Engineering and Automated Learning
Agent memory and adaptation in multi-agent systems
AAMAS '03 Proceedings of the second international joint conference on Autonomous agents and multiagent systems
Learning in embedded systems
A review of probabilistic macroscopic models for swarm robotic systems
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
Social Information Processing in News Aggregation
IEEE Internet Computing
Top-down vs bottom-up methodologies in multi-agent system design
Autonomous Robots
Dynamics of collaborative document rating systems
Proceedings of the 9th WebKDD and 1st SNA-KDD 2007 workshop on Web mining and social network analysis
Toward multi-level modeling of robotic sensor networks: a case study in acoustic event monitoring
Proceedings of the 1st international conference on Robot communication and coordination
Multi-agent task allocation: learning when to say no
Proceedings of the 10th annual conference on Genetic and evolutionary computation
Generating Dynamic Formation Strategies Based on Human Experience and Game Conditions
RoboCup 2007: Robot Soccer World Cup XI
Annals of Mathematics and Artificial Intelligence
Dynamics of a Collaborative Rating System
Advances in Web Mining and Web Usage Analysis
On the significance of synchroneity in emergent systems
Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
Robotics and Autonomous Systems
Accelerating self-modeling in cooperative robot teams
IEEE Transactions on Evolutionary Computation
Optimized stochastic policies for task allocationin swarms of robots
IEEE Transactions on Robotics
Abstractions and algorithms for assembly tasks with large numbers of robots and parts
CASE'09 Proceedings of the fifth annual IEEE international conference on Automation science and engineering
Specialization as an optimal strategy under varying external conditions
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Monitoring group behavior in goal-directed agents using co-efficient plan observation
AOSE'06 Proceedings of the 7th international conference on Agent-oriented software engineering VII
An analytical and spatial model of foraging in a swarm of robots
SAB'06 Proceedings of the 2nd international conference on Swarm 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
Efficient multi-foraging in swarm robotics
ECAL'07 Proceedings of the 9th European conference on Advances in artificial life
Fuzzy logic decision making for multi-robot security systems
Artificial Intelligence Review
Development of top-down analysis of distributed assembly tasks
PerMIS '09 Proceedings of the 9th Workshop on Performance Metrics for Intelligent Systems
ANTS'10 Proceedings of the 7th international conference on Swarm intelligence
Resource allocation strategies for a multi sensor surveillance
CTS'05 Proceedings of the 2005 international conference on Collaborative technologies and systems
Modeling and Optimization of Adaptive Foraging in Swarm Robotic Systems
International Journal of Robotics Research
Multi-agent role allocation: issues, approaches, and multiple perspectives
Autonomous Agents and Multi-Agent Systems
Macroscopic modeling of stochastic deployment policies with time delays for robot ensembles
International Journal of Robotics Research
AF-ABLE in the multi agent contest 2009
Annals of Mathematics and Artificial Intelligence
Allocating spatially distributed tasks in large, dynamic robot teams
The 10th International Conference on Autonomous Agents and Multiagent Systems - Volume 3
Complex Task Allocation in Mobile Surveillance Systems
Journal of Intelligent and Robotic Systems
Resource constrained multirobot task allocation based on leader-follower coalition methodology
International Journal of Robotics Research
On-line assembly planning for stochastically reconfigurable systems
International Journal of Robotics Research
Value of incomplete information in mobile target allocation
MATES'11 Proceedings of the 9th German conference on Multiagent system technologies
Designing interfaces for multi-user, multi-robot systems
HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction
Multirobot coordination in pick-and-place tasks on a moving conveyor
Robotics and Computer-Integrated Manufacturing
Designing the HRTeam framework: lessons learned from a rough-and-ready human/multi-robot team
AAMAS'11 Proceedings of the 10th international conference on Advanced Agent Technology
On mobile target allocation with incomplete information in defensive environments
KES-AMSTA'12 Proceedings of the 6th KES international conference on Agent and Multi-Agent Systems: technologies and applications
The effect of load on agent-based algorithms for distributed task allocation
Information Sciences: an International Journal
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Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to improve overall system performance. Emergent coordination algorithms for task allocation that use only local sensing and no direct communication between robots are attractive because they are robust and scalable. However, a lack of formal analysis tools makes emergent coordination algorithms difficult to design. In this paper we present a mathematical model of a general dynamic task allocation mechanism. Robots using this mechanism have to choose between two types of tasks, and the goal is to achieve a desired task division in the absence of explicit communication and global knowledge. Robots estimate the state of the environment from repeated local observations and decide which task to choose based on these observations. We model the robots and observations as stochastic processes and study the dynamics of the collective behavior. Specifically, we analyze the effect that the number of observations and the choice of the decision function have on the performance of the system. The mathematical models are validated in a multi-robot multi-foraging scenario. The model's predictions agree very closely with results of embodied simulations.