Distributed bees algorithm for task allocation in swarm of robots

Jevtić, Aleksandar and Gutiérrez Martín, Álvaro and Andina de la Fuente, Diego and Jamshidi, Mo (2012). Distributed bees algorithm for task allocation in swarm of robots. "IEEE Systems Journal", v. 6 (n. 2); pp. 296-304. ISSN 1932-8184. https://doi.org/10.1109/JSYST.2011.2167820.

Description

Title: Distributed bees algorithm for task allocation in swarm of robots
Author/s:
  • Jevtić, Aleksandar
  • Gutiérrez Martín, Álvaro
  • Andina de la Fuente, Diego
  • Jamshidi, Mo
Item Type: Article
Título de Revista/Publicación: IEEE Systems Journal
Date: June 2012
Volume: 6
Subjects:
Faculty: E.T.S.I. Telecomunicación (UPM)
Department: Señales, Sistemas y Radiocomunicaciones
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

In this paper, we propose the distributed bees algorithm (DBA) for task allocation in a swarm of robots. In the proposed scenario, task allocation consists in assigning the robots to the found targets in a 2-D arena. The expected distribution is obtained from the targets' qualities that are represented as scalar values. Decision-making mechanism is distributed and robots autonomously choose their assignments taking into account targets' qualities and distances. We tested the scalability of the proposed DBA algorithm in terms of number of robots and number of targets. For that, the experiments were performed in the simulator for various sets of parameters, including number of robots, number of targets, and targets' utilities. Control parameters inherent to DBA were tuned to test how they affect the final robot distribution. The simulation results show that by increasing the robot swarm size, the distribution error decreased.

More information

Item ID: 16540
DC Identifier: http://oa.upm.es/16540/
OAI Identifier: oai:oa.upm.es:16540
DOI: 10.1109/JSYST.2011.2167820
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6047561&tag=1
Deposited by: Memoria Investigacion
Deposited on: 20 Jul 2013 11:20
Last Modified: 21 Apr 2016 16:52
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