We investigate the emergence of swarm intelligence using task allocation in large robot swarms. First, we compare task decomposition graphs of different levels of richness and measure the emergent intelligence arising from self-organized task allocation by deriving STOCH-N1, a stochastic allocation algorithm which contextualizes per-robot task allocation decisions based on a previous task's neighborhood within the graph. The results are compared to other state of the art algorithms. Second, we derive MAT-OPT: a greedy algorithm that optimally solves the swarm task allocation problem by representing the swarm's task allocation space as a matroid under some restrictive assumptions. We compare the MAT-OPT allocation method, which disregards task dependencies, with STOCH-N1, which emphasizes collective learning of graph structure (including dependencies). Results from an object gathering task show that swarm emergent intelligence (1) is sensitive to the richness of task decomposition graphs (2) is positively correlated with performance, (3) arises out of learning and exploitation of graph connectivity and structure, rather than graph content.
|Original language||English (US)|
|Title of host publication||Proceedings of the 19th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2020|
|Editors||Bo An, Amal El Fallah Seghrouchni, Gita Sukthankar|
|Publisher||International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)|
|Number of pages||9|
|State||Published - 2020|
|Event||19th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2020 - Virtual, Auckland, New Zealand|
Duration: May 19 2020 → …
|Name||Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS|
|Conference||19th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2020|
|Period||5/19/20 → …|
Bibliographical notePublisher Copyright:
© 2020 International Foundation for Autonomous.
Copyright 2020 Elsevier B.V., All rights reserved.
- Swarm Robotics
- Task Allocation
- Task Decomposition