ICRA'09 Paper Abstract


Paper FrA13.3

Hsieh, M. Ani (Drexel University), Halasz, Adam (West Virginia University), Cubuk, Ekin Dogus (Swarthmore College), Schoenholz, Samuel (Swarthmore College), Martinoli, Alcherio (EPFL)

Specialization As an Optimal Strategy under Varying External Conditions

Scheduled for presentation during the Regular Sessions "Distributed Robot Systems - I" (FrA13), Friday, May 15, 2009, 09:10−09:30, Room: 505

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Distributed Robot Systems


We present an investigation of specialization when considering the execution of collaborative tasks by a robot swarm. Specifically, we consider the stick-pulling problem first proposed by Martinoli et al. [1], [2] and develop a macroscopic analytical model for the swarm executing a set of tasks that require the collaboration of two robots. We show, for constant external conditions, maximum productivity can be achieved by a single species swarm with carefully chosen operational parameters. While the same applies for a two species swarm, we show how specialization is a strategy best employed for changing external conditions.



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