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

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.

[1]  Dario Floreano,et al.  Neural Networks as Mechanisms to Regulate Division of Labor , 2012, The American Naturalist.

[2]  Kristina Lerman,et al.  A Model of Adaptation in Collaborative Multi-Agent Systems , 2004, Adapt. Behav..

[3]  Alexandros Giagkos,et al.  Swarm intelligence to wireless ad hoc networks: adaptive honeybee foraging during communication sessions , 2013, Adapt. Behav..

[4]  Laurent Keller,et al.  Ant-like task allocation and recruitment in cooperative robots , 2000, Nature.

[5]  DaeEun Kim,et al.  Local Interaction of Agents for Division of Labor in Multi-agent Systems , 2016, SAB.

[6]  Eliseo Ferrante,et al.  Swarmanoid: A Novel Concept for the Study of Heterogeneous Robotic Swarms , 2013, IEEE Robotics & Automation Magazine.

[7]  Liselotte Sundström,et al.  Sex Allocation and Colony Maintenance in Monogyne and Polygyne Colonies of Formica truncorum (Hymenoptera: Formicidae): The Impact of Kinship and Mating Structure , 1995 .

[8]  Tucker R. Balch,et al.  Communication of behavorial state in multi-agent retrieval tasks , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[9]  Lihua Xie,et al.  Multi-Agent Cooperative Target Search , 2014, Sensors.

[10]  Spring Berman,et al.  Biologically inspired redistribution of a swarm of robots among multiple sites , 2008, Swarm Intelligence.

[11]  Aleksandar Jevtic,et al.  Distributed Bees Algorithm Parameters Optimization for a Cost Efficient Target Allocation in Swarms of Robots , 2011, Sensors.

[12]  Joanne H. Walker,et al.  Task allocation for robots using inspiration from hormones , 2011, Adapt. Behav..

[13]  Spring Berman,et al.  Dynamic redistribution of a swarm of robots among multiple sites , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  Michael J. B. Krieger,et al.  The call of duty: Self-organised task allocation in a population of up to twelve mobile robots , 2000, Robotics Auton. Syst..

[15]  Larry Bull,et al.  Embodied imitation-enhanced reinforcement learning in multi-agent systems , 2014, Adapt. Behav..

[16]  Marco Dorigo,et al.  Efficient Multi-foraging in Swarm Robotics , 2007, ECAL.

[17]  J. Pasteels,et al.  Caste differences in behavioral thresholds as a basis for polyethism during food recruitment in the ant,Pheidole pallidula (Nyl.) (Hymenoptera: Myrmicinae) , 1991, Journal of Insect Behavior.

[18]  Kristina Lerman,et al.  Mathematical Model of Foraging in a Group of Robots: Effect of Interference , 2002, Auton. Robots.

[19]  Wonki Lee,et al.  Adaptive Division of Labor in Multi-Robot System with Minimum Task Switching , 2014 .

[20]  Nicolas Jouandeau,et al.  Multi-Agent Foraging: state-of-the-art and research challenges , 2017, Complex Adapt. Syst. Model..

[21]  Andrew B. Kahng,et al.  Cooperative Mobile Robotics: Antecedents and Directions , 1997, Auton. Robots.

[22]  N. Calderone,et al.  Temporal polyethism and behavioural canalization in the honey bee, Apis mellifera , 1996, Animal Behaviour.

[23]  Nicolas Jouandeau,et al.  A Survey and Analysis of Multi-Robot Coordination , 2013 .

[24]  Harvey L. Eckenrode.  Southeastern Simulation Council meeting , 1967 .

[25]  Carlo Pinciroli.  The Swarmanoid Simulator , 2007 .

[26]  Filippo Neri,et al.  Intelligent Algorithms Based on Data Processing for Modular Robotic Vehicles Control , 2014 .

[27]  R. Dukas,et al.  Honey bees recognize development of nestmates' ovaries , 1995, Animal Behaviour.

[28]  Maja J. Mataric,et al.  Adaptive division of labor in large-scale minimalist multi-robot systems , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[29]  G. Theraulaz,et al.  Response threshold reinforcements and division of labour in insect societies , 1998, Proceedings of the Royal Society of London. Series B: Biological Sciences.

[30]  Richard T. Vaughan,et al.  On device abstractions for portable, reusable robot code , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[31]  Hajime Asama,et al.  Adaptive division of Labor Control for robot group , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[32]  Yantao Tian,et al.  Swarm robots task allocation based on response threshold model , 2000, 2009 4th International Conference on Autonomous Robots and Agents.

[33]  Mauro Birattari,et al.  Autonomous task partitioning in robot foraging: an approach based on cost estimation , 2013, Adapt. Behav..

[34]  Yutaka Nakamura,et al.  Task Allocation for a robotic swarm based on an Adaptive Response Threshold Model , 2013, 2013 13th International Conference on Control, Automation and Systems (ICCAS 2013).

[35]  Harry Goldingay,et al.  Distributed Sequential Task Allocation in Foraging Swarms , 2013, 2013 IEEE 7th International Conference on Self-Adaptive and Self-Organizing Systems.

[36]  Maja J. Mataric,et al.  Learning social behavior , 1997, Robotics Auton. Syst..

[37]  Marco Dorigo,et al.  Division of labor in a group of robots inspired by ants' foraging behavior , 2006, TAAS.

[38]  Kristina Lerman,et al.  Analysis of Dynamic Task Allocation in Multi-Robot Systems , 2006, Int. J. Robotics Res..

[39]  E. Wilson.  The relation between caste ratios and division of labor in the ant genus Pheidole (Hymenoptera: Formicidae) , 1984, Behavioral Ecology and Sociobiology.

[40]  Shuai Li,et al.  Distributed Task Allocation of Multiple Robots: A Control Perspective , 2018, IEEE Transactions on Systems, Man, and Cybernetics: Systems.