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Proceedings of the first international conference on simulation of adaptive behavior on From animals to animats
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Swarm intelligence: from natural to artificial systems
Swarm intelligence: from natural to artificial systems
Principled Communication for Dynamic Multi-robot Task Allocation
ISER '00 Experimental Robotics VII
Emergent Specialization in Swarm Systems
IDEAL '02 Proceedings of the Third International Conference on Intelligent Data Engineering and Automated Learning
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Journal of Intelligent and Robotic Systems
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CSTST '08 Proceedings of the 5th international conference on Soft computing as transdisciplinary science and technology
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IWSOS '08 Proceedings of the 3rd International Workshop on Self-Organizing Systems
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Robustness and stagnation of a swarm in a cooperative object recognition task
ICSI'11 Proceedings of the Second international conference on Advances in swarm intelligence - Volume Part I
RoboNetSim: An integrated framework for multi-robot and network simulation
Robotics and Autonomous Systems
A fault-tolerant approach to robot teams
Robotics and Autonomous Systems
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This paper describes an adaptive task assignment method for a team of fully distributed mobile robots with initially identical functionalities in unknown task environments. A hierarchical assignment architecture is established for each individual robot. In the higher hierarchy, we employ a simple self-reinforcement learning model inspired by the behavior of social insects to differentiate the initially identical robots into ''specialists'' of different task types, resulting in stable and flexible division of labor; on the other hand, in dealing with the cooperation problem of the robots engaged in the same type of task, Ant System algorithm is adopted to organize low-level task assignment. To avoid using a centralized component, a ''local blackboard'' communication mechanism is utilized for knowledge sharing. The proposed method allows the robot team members to adapt themselves to the unknown dynamic environments, respond flexibly to the environmental perturbations and robustly to the modifications in the team arising from mechanical failure. The effectiveness of the presented method is validated in two different task domains: a cooperative concurrent foraging task and a cooperative collection task.