Efficiency of a Group Consisted of Robots with Heterogeneous Motion Algorithms

摘要

In this paper, we propose a heterogeneous robot group for cooperative task execution. The “heterogeneous” robot group is composed of autonomous robots which have different motion algorithms. In this paper, we investigate characteristics of the heterogeneous robot groups by simulations of multi-agent taveling salesman problem, which we can hardly solve by centralized algorithm. Then we propose an algorithm to arrange balance of mixture of robots driven by different algorithms. We verify the efficiency of the autonomous heterogeneous robot group by simulations.