Abstract
We explore the problem of resource allocation in a system made up of autonomous agents that can either carry out tasks individually or, when necessary, cooperate by forming physical connections with each other. We consider a group transport scenario that involves transporting broken robots to a repair zone. Some broken robots can be transported by an individual ‘rescue’ robot, whereas other broken robots are heavier and therefore require the rescue robots to self-assemble into a larger and stronger composite entity. We present a distributed controller that solves this task while efficiently allocating resources. We conduct a series of real-world experiments to show that our system can i) transport separate broken robots in parallel, ii) trigger self-assembly into composite entities when necessary to overcome the physical limitations of individual agents, iii) efficiently allocate resources and iv) resolve deadlock situations.
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O’Grady, R. et al. (2011). Swarm-Bots to the Rescue. In: Kampis, G., Karsai, I., Szathmáry, E. (eds) Advances in Artificial Life. Darwin Meets von Neumann. ECAL 2009. Lecture Notes in Computer Science(), vol 5777. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21283-3_21
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DOI: https://doi.org/10.1007/978-3-642-21283-3_21
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