A self-organized algorithm based on digital hormone

In this paper, a self-organized algorithm for task allocation, based on the hormone reaction-diffusion mechanism, is proposed for a multi-robot system. Hormone messages are used to coordinate the movement of robots. By the regulation of hormones, agents could adjust their behaviors in time and improve the ability of self-organization. A simulation of task allocation in the multi-robot system is performed, experimental results demonstrate that our method can accomplish the task effectively and reduce the total cost.