In order to efficiently perform their tasks, robots require a hig

In order to efficiently perform their tasks, robots require a high level of autonomy and cooperation.Even though cheap robot hardware has become widely accessible on the market, application of multi-robot systems in our everyday lives is limited. Nevertheless, due to the potential that this field has, great efforts have been made by various research groups to investigate the algorithms for coordination and control of multi-robot systems consisting of large number of units. In order to unify the research under a single framework, some researchers have proposed different multi-robot system taxonomies. Dudek et al. [1] proposed a taxonomy that categorizes the existing multi-robot systems along various axes, including size (number of robots), team organization (e.g., centralized vs.
distributed), communication topology (e.g., broadcast vs. unicast), and team composition (e.g., homogeneous vs. heterogeneous). Rather than architectures, Gerkey and Matari? [2] categorized the underlying coordination Inhibitors,Modulators,Libraries problems with a focus on multi-robot task allocation (MRTA). These authors distinguished: single-task (ST) and multi-task (MT) robots, single-robot (SR) and multi-robot (MR) tasks, and instantaneous (IA) and time-extended (TA) assignment.When dealing with a large number of robots, distributed coordination and decentralized communication can acquire great benefits for the overall system��s performance. A system consisting of a large number of autonomous robots that directly or indirectly (via environment) communicate with one another is referred to as swarm [3].
The advantages of the decentralized Inhibitors,Modulators,Libraries over a more traditional centralized approach can be significant as the former usually provides higher autonomy, adaptability, scalability, Inhibitors,Modulators,Libraries and robustness of the whole system [4�C8]. In order to develop adequate coordination models for Inhibitors,Modulators,Libraries robot swarms, many researchers have sought inspiration in natural systems, such as ant and bee colonies, bird flocks or fish schools [9�C12]. Still, criteria for robot swarms remains efficiency and cost, while the biological plausibility often serves only as an initial idea.In this paper, the optimized Distributed Bees Algorithm (DBA) is applied to distributed target allocation in a swarm of robots. The DBA was previously proposed and validated by the authors through a set of experiments with physical robots [13].
A detailed comparison Dacomitinib of the DBA with the state of the art algorithms for task allocation, further info and the analysis of the algorithm��s scalability, are given in [14]. The DBA introduces a set of control parameters that adapt swarm��s behavior with respect to robots�� distribution error and deployment cost. In this work, these parameters are optimized for an improved swarm��s performance in terms of deployment cost measured as the average distance traveled by the robots in the deployment phase. By changing the values of the DBA��s control parameters, the targets�� allocation patterns are modified.

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