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Sensors 2017, 17(6), 1232; doi:10.3390/s17061232

History-Based Response Threshold Model for Division of Labor in Multi-Agent Systems

School of Electrical and Electronic Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 120-749, Korea
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Author to whom correspondence should be addressed.
Academic Editor: Athanasios V. Vasilakos
Received: 31 March 2017 / Revised: 16 May 2017 / Accepted: 25 May 2017 / Published: 28 May 2017
(This article belongs to the Section Sensor Networks)
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Abstract

Dynamic task allocation is a necessity in a group of robots. Each member should decide its own task such that it is most commensurate with its current state in the overall system. In this work, the response threshold model is applied to a dynamic foraging task. Each robot employs a task switching function based on the local task demand obtained from the surrounding environment, and no communication occurs between the robots. Each individual member has a constant-sized task demand history that reflects the global demand. In addition, it has response threshold values for all of the tasks and manages the task switching process depending on the stimuli of the task demands. The robot then determines the task to be executed to regulate the overall division of labor. This task selection induces a specialized tendency for performing a specific task and regulates the division of labor. In particular, maintaining a history of the task demands is very effective for the dynamic foraging task. Various experiments are performed using a simulation with multiple robots, and the results show that the proposed algorithm is more effective as compared to the conventional model. View Full-Text
Keywords: multi-robot system; dynamic task allocation; division of labor; response threshold model; task demand; specialization multi-robot system; dynamic task allocation; division of labor; response threshold model; task demand; specialization
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Lee, W.; Kim, D. History-Based Response Threshold Model for Division of Labor in Multi-Agent Systems. Sensors 2017, 17, 1232.

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