Title :
Specialization as an optimal strategy under varying external conditions
Author :
Hsieh, M. Ani ; Halász, Ádám ; Cubuk, Ekin Dogus ; Schoenholz, Samuel ; Martinoli, Alcherio
Author_Institution :
Mech. Eng. & Mech. Dept., Drexel Univ., Philadelphia, PA, USA
Abstract :
We present an investigation of specialization when considering the execution of collaborative tasks by a robot swarm. Specifically, we consider the stick-pulling problem first proposed by Martinoli et al., and develop a macroscopic analytical model for the swarm executing a set of tasks that require the collaboration of two robots. We show, for constant external conditions, maximum productivity can be achieved by a single species swarm with carefully chosen operational parameters. While the same applies for a two species swarm, we show how specialization is a strategy best employed for changing external conditions.
Keywords :
multi-robot systems; telerobotics; collaborative tasks; macroscopic analytical model; optimal strategy; robot swarm; stick-pulling problem; Analytical models; Collaboration; Educational institutions; Educational robots; Environmental economics; Microorganisms; Productivity; Robot kinematics; Robot sensing systems; Robotics and automation;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152798