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A. Brutschy. Task Allocation in Swarm Robotics. Towards a Method for Self-Organized Allocation to Complex Tasks. Technical Report TR/IRIDIA/2009-007, IRIDIA, Université Libre de Bruxelles, Brussels, Belgium, May 2009.

Abstract

In this work, we propose a method for self-organized task partitioning and allocation. The current state of the art provides neither an abstract understanding of task allocation problems in self-organized swarm systems, nor tools for modeling and designing such systems. We present the first steps towards a unified method capable of exactly this. We analyse the problem and provide a structured approach to complex task allocation problems. The method relies on partitioning complex tasks in smaller, more manageable subtasks which can be tackled by a swarm of robots in a self-organized way. Two types of subtasks are identified and discussed. We present experiments to study the properties of these subtasks, and propose algorithms to achieve self-organized allocation to these subtasks as well as test the algorithms in practical, real-world applications.


Updated: 2017-03-27