Dynamical Systems Approach to Distributed Task Assignment
by
Peter Molnar
Center for Theoretical Studies of Physical Systems, Clark Atlanta University, Atlanta, GA
Coauthors: Jens Starke (Center for Scientific Computing, University of Heidelberg, Im Neuenheimer Feld 294, D-69120 Heidelberg, Germany)

We propose an error resistant control mechanism for distributed autonomous robotic units to navigate in an environment with obstacles where the robotic units have to be assigned to manufacturing targets in a cost effective way. Our dynamical systems approach allows self-organized control of these robots. The system’s equations are based on the selection behavior known in pattern formation of physical, chemical and biological systems, and a reactive Behavioral Forces model for emergent structures in social systems like pedestrian crowds.

Date received: March 31, 2003