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| A Balance Principle Based SelfOrganizing Method for Task Allocation in MultiRobot System |
| DONG YanBin, JIANG JingPing, 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 selforganizing task allocation in a team of robots.
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Received: 20 February 2006
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2007, Vol. 20 
