The impact of diversity on performance in multi-robot foraging

Quantitative relationships between performance and behavioral diversity are investigatedin a multi-robotforaging task. The task, referred to as mi specialize-by-color, where each robot specializes in collecting one type of object; and territorial, where most of the robots drop objects off near the delivery area, while the remaining agent completes the sorting and delivery. Each strategy is evaluated for diversity and performance using quantitative metrics. Data is gathered in thousands of simulation runs and the behaviors are also verified on mobile robots. In contrast to the results of a similar study in robotic soccer [12], the results of this research indicate homogeneous behavior is the best strategy for foraging

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