An Amalgamation of Hormone Inspired Arbitration Systems for Application in Robot Swarms

Wilson, James, Timmis, Jonathan and Tyrrell, Andy (2019) An Amalgamation of Hormone Inspired Arbitration Systems for Application in Robot Swarms. Applied Sciences, 9 (17). e3524. ISSN 2076-3417

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Previous work has shown that virtual hormone systems can be engineered to arbitrateswarms of robots between sets of behaviours. These virtual hormones act similarly to theirnatural counterparts, providing a method of online, reactive adaptation. It is yet to be shownhow virtual hormone systems could be used when a robotic swarm has a large variety of task typesto execute. This paper details work that demonstrates the viability of a collection of virtual hormonesthat can be used to regulate and adapt a swarm over time, in response to different environmentsand tasks. Specifically, the paper examines a new method of hormone speed control for energyefficiency and combines it with two existing systems controlling environmental preference as wellas a selection of behaviours that produce an effective foraging swarm. Experiments confirm theeffectiveness of the combined system, showing that a swarm of robots equipped with multiple virtualhormones can forage efficiently to a specified item demand within an allotted period of time.

Item Type: Article
Additional Information: ** From MDPI via Jisc Publications Router ** History: accepted 22-08-2019; pub-electronic 27-08-2019. ** Licence for this article:
Uncontrolled Keywords: swarm, robotics, hormone, behaviour, arbitration, demand
Divisions: Faculty of Technology > School of Engineering
Related URLs:
SWORD Depositor: Publication Router
Depositing User: Publication Router
Date Deposited: 10 Mar 2020 16:19
Last Modified: 30 Sep 2020 10:46

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