Study of Self-Organization Model of Multiple Mobile Robot

TL;DR

This paper introduces a hierarchical web recursive model for self-organizing multiple mobile robots, enhancing efficiency and robustness in dynamic environments through a recursive, task-oriented, market-based approach.

Contribution

It proposes a novel Hierarchical-Web Recursive Organization Model (HWROM) with a forming algorithm, unifying robot roles and enabling dynamic, robust self-organization.

Findings

The model improves system efficiency in dynamic environments.

It simplifies robot interactions and reduces computational complexity.

The approach demonstrates robustness and adaptability in unknown settings.

Abstract

A good organization model of multiple mobile robot should be able to improve the efficiency of the system, reduce the complication of robot interactions, and detract the difficulty of computation. From the sociology aspect of topology, structure and organization, this paper studies the multiple mobile robot organization formation and running mechanism in the dynamic, complicated and unknown environment. It presents and describes in detail a Hierarchical- Web Recursive Organization Model (HWROM) and forming algorithm. It defines the robot society leader; robotic team leader and individual robot as the same structure by the united framework and describes the organization model by the recursive structure. The model uses task-oriented and top-down method to dynamically build and maintain structures and organization. It uses market-based techniques to assign task, form teams and allocate resources in dynamic environment. The model holds several characteristics of self-organization, dynamic, conciseness, commonness and robustness.