Modified Distributed Bee Algorithm in Task Allocation of Swarm Robotic

In this paper, we propose a modified distributed bee algorithm (MDBA) for task allocation in a swarm of robots. In MDBA, a tournament selection mechanism is proposed to improve the selection ability of the algorithm. In the proposed scenario, task allocation is to assign the robots to the found targets in a 2-D arena. The expected distribution is obtained from the targets' qualities that are represented as scalar values. We tested the scalability of the proposed MDBA algorithm in terms of number of robots and number of targets. The simulation results show that by increasing the robot swarm's size, the distribution error is decreased. The results obtained confirm the ability of the proposed MDBA.