Swarm Game and Task Allocation for Autonomous Underwater Robots

Author:

Xiong Minglei12,Xie Guangming3

Affiliation:

1. State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing 100871, China

2. Boya Gongdao (Beijing) Robot Technology Co., Ltd., Beijing 100176, China

3. China Peng Cheng Laboratory, Shenzhen 518055, China

Abstract

Although underwater robot swarms have demonstrated increasing application prospects, organizing and optimizing the swarm’s scheduling for uncertain tasks are challenging. Thus, we designed robot games and task allocation experiments, where the robots have different cooperative attributes, as some are more selfish and others more altruistic. Specifically, we designed two experiments: target search and target moving, aiming to reveal the relationship between individual cooperation and group task achievement in a robot swarm as a collaborative strategy. The task information is shared among the robots, because performing the tasks consumes a certain amount of energy, reducing the robot’s running speed. Our experiments prove that the robot swarms can evolve and enhance their strategies during the game, and will guide guiding future works in designing more efficient robot swarms.

Funder

National Natural Science Foundation of China

Beijing Natural Science Foundation

Publisher

MDPI AG

Subject

Ocean Engineering,Water Science and Technology,Civil and Structural Engineering

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