Navigation-based Optimization of Stochastic Deployment Strategies for a Robot Swarm to Multiple Sites
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چکیده
We present a biologically inspired approach to the dynamic assignment and reassignment of a swarm of homogeneous robots to multiple locations, with applications in search and rescue, environmental monitoring, and task allocation. Our work is inspired by experimental studies of ant house hunting and empirical models that predict the behavior of the colony that is faced with a choice between multiple candidate nests. In this work, we build on the results of [1] and present a method to optimize stochastic control policies for the dynamic redistribution of a swarm of agents among multiple sites in a specified ratio to account for navigation delays. The stability and convergence properties of these control policies are analyzed and simulation results are presented.
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تاریخ انتشار 2008