Division of Labour in a Group of Robots Inspired by Ants' Foraging Behaviour
Labella Thomas Halva, Dorigo Marco, Deneubourg Jean-Louis

Abstract:

In this paper, we analyse the behaviour of a group of robots involved in an object retrieval task. The robots' control system is inspired by a model of ants' foraging. This model emphasises the role of learning in the individual. Individuals adapt to the environment using only locally available information. We show that a simple parameter adaptation is an effective way to improve the efficiency of the group, and that it brings forth division of labour between the members of the group. Moreover, robots that are best at retrieving have an higher probability to become active retrievers. This selection of the best members does not use any explicit representation of individual capabilities. We analyse this system and point out its strengths and its weaknesses.