This paper describes task allocation among autonomous movile robots. For efficient task allocation, a heavy task should employ many agents, meanwhile small one should not. We propose a system that an agent recruits others probabilistically. First, we have formulated condition that task information spreads to whole area in this system, using SIS Infection model. Second, we examined the relation among the work efficiency and condition to spread. Third, by changing the probability of giving infector the information of task according to the task size, we make more efficient system than random walk system etc.
抄録全体を表示