Modified Distributed Bees Algorithm with Adaptive Exploration Parameter for Task Allocation in Swarm of Robots

In this paper, the modified distributed bees algorithm is proposed to do task allocation in swarm robotics problem. In MDBA, in order to maintain the balance between exploration and exploitation of algorithm, a self-adaptive mechanism is proposed. In order to evaluate the performance of proposed algorithm In the proposed scenario, task allocation consists of assigning the robots to the found targets in two dimensional search spaces. The expected distribution is obtained from the targets’ qualities that are represented as scalar values. Targets’ qualities and distances are two important factors in decision-making mechanism. The scalability of the proposed MDBA algorithm is tested in terms of number of robots and number of targets. Based on simulation results, the distribution error is decreased by increasing the robot swarm size.

Keywords:

Multi-robot task allocation , Exploration , Exploitation , Heuristic search algorithms.