Adaptive Division of Labor Control for Robot Group

被引：6
|
作者：
Ikemoto, Yusuke [1 ]
Miura, Tom [2 ]
Asama, Hajime [1 ]
机构：
[1] Univ Tokyo, Ctr Engn, Dept Res Artifacts, 5-1-5 Kashiwanoha, Chiba 2778568, Japan
[2] Hokkaido Univ, Grad Sch Environm Sci, Sapporo, Hokkaido 0600810, Japan
来源：
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年
关键词：
D O I：
10.1109/IROS.2009.5354541
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
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 gate 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 gate with group performance improvement.
引用
收藏
页码：2409 / 2414
页数：6
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