Dynamic subgoal generation of autonomous agents moving in a lattice world

The paper approaches self organization of autonomous agents moving in a lattice world to achieve a shared final goal from the viewpoint of self regeneration and forced regeneration of subgoals. The model is referred to as The Tower of Babel proposed by T. Ishida (1991), which includes block subgoal and intersection subgoal. First, the paper proposes fundamental schemes to make a decision on block subgoals. Then two forced regenerating schemes and a self regenerating scheme are proposed based on the fundamental schemes. L* and an escape factor are also provided to approach the second subgoal confliction. The simulation results show that the self regenerating scheme is most efficient on block subgoal, that the algorithm has an optimal agent number against cost performance, and that a strategy using L* and the escape factor improves the success rate of the self regenerating scheme