Task Allocation in Multistate Systems
Tsuyoshi Mizuguchi*1,*2, Ken Sugawara*3,
and Toshiya Kazama*4
*1Department of Mathematical Sciences, Osaka Prefecture University, 1-1 Gakuen-cho, Naka-ku, Sakai 599-8531, Japan
*2PRESTO, Japan Science and Technology Agency (JST), 4-1-8 Honcho Kawaguchi, Saitama 332-0012, Japan
*3Department of Information Science, Tohoku Gakuin University, 2-1-1 Tenjinzawa, Izumi-ku, Sendai 981-3193, Japan
*4Department of Mathematical and Life Sciences, Hiroshima University, 1-3-1 Kagami-yama, Higashi-Hiroshima 739-8526, Japan
Multistate task allocation inspired by social-insect polyethism is treated from the viewpoint of proportionally regulating a population between different states, i.e., the system is homeostatic against external disturbance and environmental change. Using a dynamical model consisting of identical elements and external variable “stock materials,” adaptability to external disturbances is studied numerically. Experiments are performed with actual robots moving in virtual pheromone fields simulated by computer graphics and video camera feedback demonstrating task allocation.
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