Autonomous distributed action selection algorithm for multiple mobile robot in transportation task

Masato Wagatsuma, Kazuo Nakazawa

Research output: Contribution to journalArticlepeer-review


Recently, as robots are required to have more advanced ability to achieve various tasks, due to limitation of a single mobile robot, the research on multiple mobile robots system under decentralized control attention. Particularly, it is very important to assign automated delivery tasks to multiple mobile robots. Multiple mobile robots under decentralized control are not controlled, but recognize surround environment using sensors and decide action by themselves. However, since there are many other robots, collisions with other robots occur many times. In order to solve this problem, explicit communication is used, but it needs communication cost. In this paper, we propose a method of behavioral decision without knowing other robots' state for multiple mobile robots system which is applied to sorting task. Experimental simulations are conducted for different environment and the change of number of robots and the task progress are discussed.

Original languageEnglish
Pages (from-to)3010-3015
Number of pages6
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number11
Publication statusPublished - 2007 Nov


  • Decentralized control
  • Moving robot
  • Sorting task
  • Transportation task

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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