History-Based Response Threshold Model for Division of Labor in Multi-Agent Systems
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 fu...
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| Format: | Article |
| Language: | English |
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MDPI AG
2017-05-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/17/6/1232 |
| _version_ | 1798038697850961920 |
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| author | Wonki Lee DaeEun Kim |
| author_facet | Wonki Lee DaeEun Kim |
| author_sort | Wonki Lee |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-11T21:43:49Z |
| format | Article |
| id | doaj.art-4a068b5aab9947a8a8338b5722f0bd7f |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T21:43:49Z |
| publishDate | 2017-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-4a068b5aab9947a8a8338b5722f0bd7f2022-12-22T04:01:28ZengMDPI AGSensors1424-82202017-05-01176123210.3390/s17061232s17061232History-Based Response Threshold Model for Division of Labor in Multi-Agent SystemsWonki Lee0DaeEun Kim1School of Electrical and Electronic Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 120-749, KoreaSchool of Electrical and Electronic Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 120-749, KoreaDynamic 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.http://www.mdpi.com/1424-8220/17/6/1232multi-robot systemdynamic task allocationdivision of laborresponse threshold modeltask demandspecialization |
| spellingShingle | Wonki Lee DaeEun Kim History-Based Response Threshold Model for Division of Labor in Multi-Agent Systems Sensors multi-robot system dynamic task allocation division of labor response threshold model task demand specialization |
| title | History-Based Response Threshold Model for Division of Labor in Multi-Agent Systems |
| title_full | History-Based Response Threshold Model for Division of Labor in Multi-Agent Systems |
| title_fullStr | History-Based Response Threshold Model for Division of Labor in Multi-Agent Systems |
| title_full_unstemmed | History-Based Response Threshold Model for Division of Labor in Multi-Agent Systems |
| title_short | History-Based Response Threshold Model for Division of Labor in Multi-Agent Systems |
| title_sort | history based response threshold model for division of labor in multi agent systems |
| topic | multi-robot system dynamic task allocation division of labor response threshold model task demand specialization |
| url | http://www.mdpi.com/1424-8220/17/6/1232 |
| work_keys_str_mv | AT wonkilee historybasedresponsethresholdmodelfordivisionoflaborinmultiagentsystems AT daeeunkim historybasedresponsethresholdmodelfordivisionoflaborinmultiagentsystems |