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  2007, Vol. 20 Issue (6): 832-837    DOI:
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A Balance Principle Based SelfOrganizing Method for Task Allocation in MultiRobot System
DONG YanBin, JIANG JingPing, HE Yan
School of Electrical Engineering, Zhejiang University, Hangzhou 310027

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Abstract  To overcome the problems of uncertainty in model and the difficulties in optimizing the quality function in control process of multiple robotic system, a method for decision control based on balance principle is proposed, which is put forward according to the balanced phenomena in nature. Furthermore, an algorithm of adjusting the strategies for selecting task is designed by applying the proposed method to the problem of task allocation. Simulation result demonstrates the validity of this algorithm on selforganizing task allocation in a team of robots.
Key wordsBalance Principle      Distributed Autonomous Cooperative Multiple Robotic System      SelfOrganizing      Task Allocation     
Received: 20 February 2006     
ZTFLH: TP24  
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DONG YanBin
JIANG JingPing
HE Yan
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DONG YanBin,JIANG JingPing,HE Yan. A Balance Principle Based SelfOrganizing Method for Task Allocation in MultiRobot System[J]. , 2007, 20(6): 832-837.
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