Document detail
ID
oai:arXiv.org:2403.15621
Topic
Computer Science - RoboticsAuthor
Beaver, Logan E.Category
Computer Science
Year
2024
listing date
3/27/2024
Keywords
energy colony forage positive feedback robotsAbstract
In this article we address the colony maintenance problem, where a team of robots are tasked with continuously maintaining the energy supply of an autonomous colony.
We model this as a global game, where robots measure the energy level of a central nest to determine whether or not to forage for energy sources.
We design a mechanism that avoids the trivial equilibrium where all robots always forage.
Furthermore, we demonstrate that when the game is played iteratively a negative feedback term stabilizes the number of foraging robots at a non-trivial Nash equilibrium.
We compare our approach qualitatively to existing global games, where a positive positive feedback term admits threshold-based decision making, and encourages many robots to forage simultaneously.
We discuss how positive feedback can lead to a cascading failure in the presence of a human who recruits robots for external tasks, and we demonstrate the performance of our approach in simulation.
;Comment: 6 pages, 5 figures
Beaver, Logan E., 2024, Global Games with Negative Feedback for Autonomous Colony Maintenance using Robot Teams
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