A swarm robotic system is a system in which multiple robots cooperate to fulfill a macroscopic function. Many swarm robots have been developed for various purposes. This study aims to design swarm robots capable of executing spatially distributed tasks effectively, which can be potentially used for tasks such as search-and-rescue operation and gathering scattered garbage in rooms. We propose a simple decentralized control scheme for swarm robots by extending our previously proposed non-reciprocal-interaction-based model. Each robot has an internal state, called its workload. Each robot first moves randomly to find a task, and when it does, its workload increases, and then it attracts its neighboring robots to ask for their help. We demonstrate, via simulations, that the proposed control scheme enables the robots to effectively execute multiple tasks in parallel under various environments. Fault tolerance of the proposed system is also demonstrated.

中文翻译：

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可有效执行空间分布任务的群机器人分散控制

群机器人系统是多个机器人协作完成宏观功能的系统。许多群机器人已被开发用于各种目的。本研究旨在设计能够有效执行空间分布任务的群体机器人，其可潜在用于搜救行动和收集房间内散落的垃圾等任务。我们通过扩展我们之前提出的基于非交互交互的模型，为群体机器人提出了一种简单的分散控制方案。每个机器人都有一个内部状态，称为其工作负载。每个机器人首先随机移动寻找任务，当它完成时，它的工作量增加，然后它会吸引相邻的机器人来寻求他们的帮助。我们通过模拟证明，所提出的控制方案使机器人能够在各种环境下有效地并行执行多项任务。还展示了所提议系统的容错性。