Contributed talk in Swarm Behaviour 3, Aug. 2, 2019, 2 p.m. in room USB.G.003

Engineering Application of Non-Reciprocal-Interaction-Based (NRIB) Model: Swarm Robotic System That Can Perform Spatially Distributed Tasks in Parallel

Takeshi Kano, Eiichi Naito, Takenobu Aoshima, Akio Ishiguro

watch Publication We propose a simple decentralized control scheme for swarm robots that can perform spatially distributed tasks in parallel, drawing inspiration from the non-reciprocal-interaction-based (NRIB) model we proposed previously. Each agent has an internal state called “workload.” Each agent first moves randomly to find a task. When it finds a task, its workload increases, and then it attracts its neighboring agents to ask for their help. Simulation was used to demonstrate the validity of the proposed control scheme.