Behavior of a group composed of robots with heterogeneous motion algorithms

Abstract

In this paper, we propose a heterogeneous robot group for cooperative task execution. The "heterogeneous" robot group is composed of robots which have different motion algorithms. In this paper, we investigate behavior of the heterogeneous robot groups by simulations of multi-agent traveling salesman problem, which we hardly solve by centralized algorithms. Then we propose an algorithm, based on reinforcement learning, to adapt mixture ratio of robots driven by different algorithms. We verify the efficiency of the autonomous heterogeneous robot group by simulations.