1A1-A19 Cooperative Control of Multiple Robots using Attractor Selection Model based on Yuragi

Abstract

We propose a control method for task assignment of multi-robot cooperation inspired by the adaptability of bacteria, which alters gene expressions when the environment changes. Attractor selection model has been proposed for the adaptability to the environment. We use this model for task assignment to make robots adapt to changing environments. Results of a cleaning task simulation show that the method we proposed can achieve cooperation for multiple robots. Although the method is not so fast, it is simple and robust to different environments.