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Mathematical Model of Foraging in a Group of Robots: Effect of Interference

Mathematical Model of Foraging in a Group of Robots: Effect of Interference In multi-robot applications, such as foraging or collection tasks, interference, which results from competition for space between spatially extended robots, can significantly affect the performance of the group. We present a mathematical model of foraging in a homogeneous multi-robot system, with the goal of understanding quantitatively the effects of interference. We examine two foraging scenarios: a simplified collection task where the robots only collect objects, and a foraging task, where they find objects and deliver them to some pre-specified “home” location. In the first case we find that the overall group performance improves as the system size grows; however, interference causes this improvement to be sublinear, and as a result, each robot's individual performance decreases as the group size increases. We also examine the full foraging task where robots collect objects and deliver them home. We find an optimal group size that maximizes group performance. For larger group sizes, the group performance declines. However, again due to the effects of interference, the individual robot's performance is a monotonically decreasing function of the group size. We validate both models by comparing their predictions to results of sensor-based simulations in a multi-robot system and find good agreement between theory and simulations data. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

Mathematical Model of Foraging in a Group of Robots: Effect of Interference

Lerman, Kristina; Galstyan, Aram
Autonomous Robots , Volume 13 (2) – Oct 10, 2004
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References (30)

Publisher
Springer Journals
Copyright
Copyright © 2002 by Kluwer Academic Publishers
Subject
Engineering; Robotics and Automation; Artificial Intelligence (incl. Robotics); Computer Imaging, Vision, Pattern Recognition and Graphics; Control, Robotics, Mechatronics
ISSN
0929-5593
eISSN
1573-7527
DOI
10.1023/A:1019633424543
Publisher site
See Article on Publisher Site

Abstract

In multi-robot applications, such as foraging or collection tasks, interference, which results from competition for space between spatially extended robots, can significantly affect the performance of the group. We present a mathematical model of foraging in a homogeneous multi-robot system, with the goal of understanding quantitatively the effects of interference. We examine two foraging scenarios: a simplified collection task where the robots only collect objects, and a foraging task, where they find objects and deliver them to some pre-specified “home” location. In the first case we find that the overall group performance improves as the system size grows; however, interference causes this improvement to be sublinear, and as a result, each robot's individual performance decreases as the group size increases. We also examine the full foraging task where robots collect objects and deliver them home. We find an optimal group size that maximizes group performance. For larger group sizes, the group performance declines. However, again due to the effects of interference, the individual robot's performance is a monotonically decreasing function of the group size. We validate both models by comparing their predictions to results of sensor-based simulations in a multi-robot system and find good agreement between theory and simulations data.

Journal

Autonomous Robots – Springer Journals

Published: Oct 10, 2004

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