Dynamic Response Threshold Model for Self-Organized Task Allocation in a Swarm of Foraging Robots

doi:10.3390/app13169107

IOCAS-IR

	Dynamic Response Threshold Model for Self-Organized Task Allocation in a Swarm of Foraging Robots
	Pang, Bao 1; Zhang, Ziqi 1; Song, Yong 1; Yuan, Xianfeng 1,2,3; Xu, Qingyang 1
	2023-08-01
发表期刊	APPLIED SCIENCES-BASEL
卷号	13 期号:16 页码:21
通讯作者	Song, Yong(songyong@sdu.edu.cn)
摘要	In swarm-robotics foraging, the purpose of task allocation is to adjust the number of active foraging robots dynamically based on the task demands and changing environment. It is a difficult challenge to generate self-organized foraging behavior in which each robot can adapt to environmental changes. To complete the foraging task efficiently, this paper presents a novel self-organized task allocation strategy known as the dynamic response threshold model (DRTM). To adjust the behavior of the active foraging robots, the proposed DRTM newly introduces the traffic flow density, which can be used to evaluate the robot density. Firstly, the traffic flow density and the amount of obstacle avoidance are used to adjust the threshold which determines the tendency of a robot to respond to a stimulus in the environment. Then, each individual robot uses the threshold and external stimulus to calculate the foraging probability that determines whether or not to go foraging. This paper completes the simulation and physical experiments, respectively, and the performance of the proposed method is evaluated using three commonly used performance indexes: the average deviation of food, the energy efficiency, and the number of obstacle avoidance events. The experimental results show that the DRTM is superior to and more efficient than the adaptive response threshold model (ARTM) in all three indexes.
关键词	swarm robotics adaptive foraging self-organized task allocation dynamic response threshold model traffic flow density
DOI	10.3390/app13169107
收录类别	SCI
语种	英语
资助项目	This work was supported in part by the Science and Technology Innovation 2030 Major Project under Grant 2020AAA0108903 and in part by the National Natural Science Foundation of China under Grant 61973184 and Grant 61803227.[61973184] ; National Natural Science Foundation of China[61803227] ; [2020AAA0108903]
WOS研究方向	Chemistry ; Engineering ; Materials Science ; Physics
WOS类目	Chemistry, Multidisciplinary ; Engineering, Multidisciplinary ; Materials Science, Multidisciplinary ; Physics, Applied
WOS记录号	WOS:001055399800001
出版者	MDPI
WOS关键词	DIVISION-OF-LABOR ; OPTIMIZATION
引用统计
文献类型	期刊论文
条目标识符	http://ir.qdio.ac.cn/handle/337002/182910
专题	中国科学院海洋研究所
通讯作者	Song, Yong
作者单位	1.Shandong Univ, Sch Mech Elect & Informat Engn, Weihai 264209, Peoples R China 2.Shandong Jinpiao Food Machinery Co Ltd, Weihai 264209, Peoples R China 3.Chinese Acad Sci, Inst Oceanol, Qingdao 266071, Peoples R China
推荐引用方式 GB/T 7714	Pang, Bao,Zhang, Ziqi,Song, Yong,et al. Dynamic Response Threshold Model for Self-Organized Task Allocation in a Swarm of Foraging Robots[J]. APPLIED SCIENCES-BASEL,2023,13(16):21.
APA	Pang, Bao,Zhang, Ziqi,Song, Yong,Yuan, Xianfeng,&Xu, Qingyang.(2023).Dynamic Response Threshold Model for Self-Organized Task Allocation in a Swarm of Foraging Robots.APPLIED SCIENCES-BASEL,13(16),21.
MLA	Pang, Bao,et al."Dynamic Response Threshold Model for Self-Organized Task Allocation in a Swarm of Foraging Robots".APPLIED SCIENCES-BASEL 13.16(2023):21.