Adaptive pheromone communication for reorganization in multiple monkey banana problem

We present self-reorganization of agents in multiple monkey banana problem. The problem can be characterized as multiple targets processing problem. In this problem, each target processing requires the cooperative organization that consists of the specified number of agents at least. Since the information of targets is shared insufficiently among the agents, each agent has to decide which target should be processed using its sensing information, and many organizations occur simultaneously for different targets. Thus the agents often face the dilemma of whether to give up the current organizing efforts or to wait until the other agents becoming member for filling up the vacancy of the organization. We propose an evolutionary acquisition of the pheromone style communication based on the classifier representation. Throughout the experiments, it is shown that the acquired communication rules succeed in the reorganization from the dilemma situations