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by Dani Goldberg, Maja J Matari'c
http://www-robotics.usc.edu/~dani/sab96-submit.ps.Z
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Abstract:
In this paper we present an ethologically inspired methodology for the incremental improvement of collective group behaviors. The goal is to aid in the implementation of efficient group behaviors, where efficiency is measured in terms of time, interference, and robustness. Among these, it is interference that can provide the best indication of how to modify a collective group behavior in order to accomplish a given task more efficiently. Interference may be reduced by employing one of the three canonical spatio-temporal arbitration schemes presented: pack arbitration, caste arbitration, or territorial arbitration. The choice of an arbitration scheme for a given task is based on which provides the most improved efficiency. As an example of this methodology we implement a collective hoarding behavior with four robots, and show how this group behavior may be improved by using the interference present in the system to help in the selection of the best arbitration scheme. Topic areas: collective and social behavior, autonomous robots, applied adaptive behavior. 1
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