Spatial interference reduction for multi-robot systems using rational and team-based aggression
Yinan Zhang · Summit (Simon Fraser University) · 2006
A team of robots with no centralized control performing a transportation task in a confined environment frequently interfere with each other.Previous work has shown that stereotyped robot-robot competition, inspired by aggressive displays in animals, can be used to effectively reduce such interference and improve overall system performance.Two principled approaches t o determining aggression for robots are described in this thesis.The first, global investment, is based on the concept of 'economical investment'.The second, team-based aggression, extends and improves upon the economical investment scheme by increasing the coordination between robots.Simulation results show that both approaches