Foraging Task of Multiple Mobile Robots in a Dynamic Environment Using Adaptive Behavior in Crickets
Masatoshi Ashikaga*, Mika Kikuchi**, Tetsutaro Hiraguchi***,
Midori Sakura**, Hitoshi Aonuma**, and Jun Ota*
*The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
**Hokkaido University, Kita 12 Nishi 6, Kita-ku, Sapporo 060-0812, Japan
***Tokyo Institute of Technology, 2-12-1-S5-355, Ookayama, Meguro-ku, Tokyo 152-8550, Japan
In this paper, we propose an algorithm for multiple mobile robots performing a foraging task. In the proposed algorithm, robots select behaviors based on their activities, which were adjusted by interaction with other robots and foods. The proposed algorithm was inspired by the mechanism governing the fighting behavior in male crickets. Simulation results showed that the algorithm is efficient in a dynamic environment.
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