Management system for distributed and hierarchical robot groups

This paper introduces a management system for robot groups with distributed and hierarchical architecture. In order to manage cooperation tasks of a great many robots, we put management systems on each work sub-area. A management system on a certain sub-area divides a task given by the upper sub-area into sub-tasks and gives the lower sub-areas those sub-tasks. With this architecture, we obtain distributed and hierarchical management system for the whole working area. We produced a simulation system and showed an example of task division and execution. We also produced a demonstration system.