Renewable resources like fish stock or forests should be exploited at a rate that supports regeneration and sustainability—a complex problem that requires adaptive approaches to maintain a sufficiently high exploitation while avoiding depletion. In the presence of oblivious agents that cannot keep track of all available resources—a frequent condition in swarm robotics—ensuring that the exploitation effort is correctly balanced is particularly challenging. Additionally, the possibility to exploit resources by multiple robots opens the way to focusing the effort either on a single or on multiple resources in parallel. This means that the swarm needs to collectively decide whether to remain cohesive or split among multiple resources, as a function of the ability of the available resources to replenish after exploitation. In this paper, we propose a decentralised strategy for a swarm of robots that adapts to the available resources and balances the effort among them, hence allowing to maximise the exploitation rate while avoiding to completely deplete the resources. A detailed analysis of the strategy parameters provides insights into the working principles and expected performance of the robot swarm.

中文翻译：

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平衡机器人群对可再生资源的开发

鱼类资源或森林等可再生资源的开发应以支持再生和可持续性的速度进行，这是一个复杂的问题，需要采取适应性方法来保持足够高的利用率，同时避免资源枯竭。在遗忘的代理程序无法跟踪所有可用资源的情况下（群发机器人中经常出现这种情况），确保正确平衡利用工作量尤其具有挑战性。此外，多个机器人可以利用资源的可能性为集中精力处理单个或多个并行资源开辟了道路。这意味着该群需要根据可用资源在开采后进行补充的能力来集体决定是保持凝聚力还是在多种资源之间分配。在本文中，我们提出了一种分散策略，该策略适用于一大堆机器人，以适应可用资源并平衡它们之间的工作量，从而在最大程度地利用资源的同时避免完全耗尽资源。通过对策略参数的详细分析，可以深入了解机器人群的工作原理和预期性能。