Self-organized distribution of tasks inside an autonomous mobile robotic system

Abstract

Mobile multi-robot systems are a main focus in robotic research. An obvious advantage of operating with several robots is the fact that solving problems like exploration cooperatively is better, faster and more precise. But there is potentiality for another enhancement, namely the distribution of necessary tasks and algorithms to available computers in such a way that as much processing time as possible is left free to further intensify sophisticated approaches. This paper presents an idea for reaching an optimal task distribution pattern without human intervention based on the concept of Autonomie Computing. A genetic algorithm in combination with the max-plus algebra is proposed to generate, analyze and optimize task distribution patterns.