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PDF 140 KB
Pages 759-760
First published 30 July 2014

Task Partitioning based on Response Threshold Model in Robot Harvesting Task

Wonki Lee and DaeEun Kim

Abstract (Excerpt)

In this paper, we invest an effect of task partitioning as the supplement to the navigation using path integration in a harvesting task of a robotic swarm. We present a simple method based on the response threshold model to allocate an individual robot to a partitioned task and show that the task partitioning will increase system performance by reducing the negative effect of path integration errors. The results of proposed method are analyzed and compared to case that task partitioning is not employed to a given task.