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research-article

Bio-inspired coalition formation algorithms for multi-robot systems

[+] Author and Article Information
Binsen Qian

PhD candidate, Department of Mechanical and Aerospace Engineering, University of California at Davis, Davis, CA 95616, USA
bqian@ucdavis.edu

Harry H. Cheng

Professor, Fellow of ASME, Integration Engineering Laboratory, Department of Mechanical and Aerospace Engineering and University of California at Davis, Davis, CA 95616, USA
hhcheng@ucdavis.edu

1Corresponding author.

ASME doi:10.1115/1.4039638 History: Received August 21, 2015; Revised February 06, 2018

Abstract

This paper presents two bio-inspired algorithms for coalition formation of multiple modular robot systems. An effective and efficient coalition formation system can help modular robot system take full advantage of reconfigurability of modular robots. In this article, the multi-robot coalition formation problem is illustrated and a mathematical model for the problem is described. Two bio-inspired algorithms, ant-colony algorithm and genetic algorithm, are introduced for solving the mathematical model. With the two algorithms, it is able to form a large number of robots into many different groups for a variety of applications, such as parallel performance of multiple tasks by multiple teams of robots. The article compares the efficiency and effectiveness of two algorithms for solving the presented problem with case study. The the results for the comparison study are analyzed and discussed. Also, the implementation details of the simulation and experiment using ant colony algorithm are presented in the article.

Copyright (c) 2018 by ASME
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