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      History-Based Response Threshold Model for Division of Labor in Multi-Agent Systems

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          Abstract

          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.

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          Most cited references42

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          Response threshold reinforcements and division of labour in insect societies

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            The relation between caste ratios and division of labor in the ant genus Pheidole (Hymenoptera: Formicidae)

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              A Survey and Analysis of Multi-Robot Coordination

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                Author and article information

                Contributors
                Role: Academic Editor
                Journal
                Sensors (Basel)
                Sensors (Basel)
                sensors
                Sensors (Basel, Switzerland)
                MDPI
                1424-8220
                28 May 2017
                June 2017
                : 17
                : 6
                : 1232
                Affiliations
                School of Electrical and Electronic Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 120-749, Korea; wonkilee@ 123456yonsei.ac.kr
                Author notes
                [* ]Correspondence: daeeun@ 123456yonsei.ac.kr ; Tel.: +81-2-2123-5879
                Article
                sensors-17-01232
                10.3390/s17061232
                5492433
                28555031
                ce079b47-141e-41ab-9245-8dfc20f9a575
                © 2017 by the authors.

                Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license ( http://creativecommons.org/licenses/by/4.0/).

                History
                : 31 March 2017
                : 25 May 2017
                Categories
                Article

                Biomedical engineering
                multi-robot system,dynamic task allocation,division of labor,response threshold model,task demand,specialization

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