Endocrine Control for Task Distribution among Heterogeneous Robots

Authors Organisations
Type Other chapter contribution
Original languageEnglish
Title of host publicationDistributed Autonomous Robotic Systems
Subtitle of host publicationThe 10th International Symposium
EditorsAlcherio Martinoli, Francesco Mondada, Nikolaus Correll, Grégory Mermoud, Magnus Egerstedt, M. Ani Hsieh, Lynne E. Parker, Kasper Støy
PublisherSpringer Nature
Pages459-472
Volume83
ISBN (Electronic)978-3-642-32723-0
ISBN (Print)978-3-642-32722-3, 3642327222
DOI
Publication statusPublished - 06 Sep 2012

Publication series

NameDistributed Autonomous Robotic Systems
Volume83
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X
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Abstract

This paper details an endocrine based system which automatically reassigns tasks among heterogeneous robots dependent on the ability of the robot to do the task. This ability (or sensitivity) to a task is initialised for each individual robot after an evolutionary training stage, then constantly adapts as the robots perform the various tasks. The system does not require a centralised controller, and relies on little communication between the robots.