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Jevtić, Aleksandar, Gutiérrez Martín, Álvaro ORCID: https://orcid.org/0000-0001-8926-5328, Andina de la Fuente, Diego ORCID: https://orcid.org/0000-0001-7036-2646 and Jamshidi, Mo (2012). Distributed bees algorithm for task allocation in swarm of robots. "IEEE Systems Journal", v. 6 (n. 2); pp. 296-304. ISSN 1932-8184. https://doi.org/10.1109/JSYST.2011.2167820.
Título: | Distributed bees algorithm for task allocation in swarm of robots |
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Autor/es: |
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Tipo de Documento: | Artículo |
Título de Revista/Publicación: | IEEE Systems Journal |
Fecha: | Junio 2012 |
ISSN: | 1932-8184 |
Volumen: | 6 |
Materias: | |
Escuela: | E.T.S.I. Telecomunicación (UPM) |
Departamento: | Señales, Sistemas y Radiocomunicaciones |
Licencias Creative Commons: | Reconocimiento - Sin obra derivada - No comercial |
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In this paper, we propose the distributed bees algorithm (DBA) for task allocation in a swarm of robots. In the proposed scenario, task allocation consists in assigning the robots to the found targets in a 2-D arena. The expected distribution is obtained from the targets' qualities that are represented as scalar values. Decision-making mechanism is distributed and robots autonomously choose their assignments taking into account targets' qualities and distances. We tested the scalability of the proposed DBA algorithm in terms of number of robots and number of targets. For that, the experiments were performed in the simulator for various sets of parameters, including number of robots, number of targets, and targets' utilities. Control parameters inherent to DBA were tuned to test how they affect the final robot distribution. The simulation results show that by increasing the robot swarm size, the distribution error decreased.
ID de Registro: | 16540 |
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Identificador DC: | https://oa.upm.es/16540/ |
Identificador OAI: | oai:oa.upm.es:16540 |
Identificador DOI: | 10.1109/JSYST.2011.2167820 |
URL Oficial: | http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumb... |
Depositado por: | Memoria Investigacion |
Depositado el: | 20 Jul 2013 11:20 |
Ultima Modificación: | 21 Abr 2016 16:52 |