Relation between task-based diversity and efficiency in multi-robot foraging

In this paper, we present a new foraging algorithm applied to multi-robot system. The algorithm classifies robots into two groups; one group is engaged in navigating, while the other in collecting. Due to different duties of robots in foraging, the robots team displays diversity during the foraging process. The results of simulation show that the team of greater diversity would be more efficient than the team without diversity in accomplishing the foraging task. Under the consideration of such factors as the robot team's size and the density of attractors in environment, the relationship between the duty-based diversity and the performance of multi-robot system is discussed based on simulation results.