Distributed Bees Algorithm for Task Allocation in Swarm of Robots

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 rep...

Full description

Saved in:
Bibliographic Details
Published in:IEEE systems journal 2012-06, Vol.6 (2), p.296-304
Main Authors: Jevtic, A., Gutierrez, A., Andina, D., Jamshidi, M.
Format: Article
Language:English
Subjects:
Multirobot systems
Resource management
Robot kinematics
Robot sensing systems
Robots
Scalability
Studies
swarm intelligence
task allocation
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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.
ISSN:1932-8184
1937-9234
DOI:10.1109/JSYST.2011.2167820