Service level differentiation in multi-robots control

In this paper we explore the effects of service level differentiation on a multi-robot control system. We examine the premise that although long interaction time between robots and operators hurts the efficiency of the system, as it generates longer waiting time for robots, it provides robots with longer neglect time and better performance benefiting the system. In the paper we address the problem of how to choose the optimal service level for an operator in a system through a service level differentiation model. Experimental results comparing system performance for different values of system parameters show that a mixed strategy is a general way to get optimal system performance for a large variety of system parameter settings and in all cases is no worse than a pure strategy.