Adaptive division of Labor Control for robot group

Division of Labor Control is advanced function for distributed autonomous robotic systems. Many studies focussing division of labor control inspired biological phenomenon have been reported. However, the optimality is not discussed because decentralized control is typically complicated. In this study, we propose the division of labor control method for robot group that enable adaptively select whether homogeneous state or heterogeneous state against working conditions and address the optimality by mathematical analysis. To evaluate the effectiveness of the proposed method, the computer simulations are carried out and we confirm that robot group implemented the proposed method inevitably organize the division of labor state with group performance improvement.