Adaptive division of Labor Control for robot group

Author

Ikemoto, Yusuke ; Miura, Toru ; Asama, Hajime

Author_Institution

Dept. of Res. into Artifacts, Univ. of Tokyo, Chiba, Japan

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

2409

Lastpage

2414

Abstract

Division of Labor Control is advanced function for distributed autonomous robotic systems. Many studies focussing division of labor control inspired biological phenomenon have been reported. However, the optimality is not discussed because decentralized control is typically complicated. In this study, we propose the division of labor control method for robot group that enable adaptively select whether homogeneous state or heterogeneous state against working conditions and address the optimality by mathematical analysis. To evaluate the effectiveness of the proposed method, the computer simulations are carried out and we confirm that robot group implemented the proposed method inevitably organize the division of labor state with group performance improvement.

Keywords

adaptive control; decentralised control; learning (artificial intelligence); multi-robot systems; adaptive control; distributed autonomous robotic systems; labor control; robot group; Adaptive control; Biological control systems; Computer simulation; Control systems; Distributed control; Employee welfare; Mathematical analysis; Optimal control; Programmable control; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5354541

Filename

5354541