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This study proposes a novel autonomous role assignment method for swarm robotic systems using the response threshold model through local interactions in a dynamic environment. There are high- and low-pheromone-sensitive ants, which are social insects. The pheromone sensitivity of ants is related to autonomous role assignment. The response threshold model was proposed to describe the pheromone sensitivity of ants. The conventional response threshold model assumes that an ant can know the number of workers in an ant colony. However, it is difficult for an ant to contact all workers because its functions are very limited. Thus, we adopt a response threshold model based on contact stimuli with foraging ants instead of the worker ratio in an ant colony. In this study, to the robustness of the proposed method in dynamic environments, we apply the proposed method to ant foraging problems in environments, where the amount and distribution of feeds fluctuate over time.

Autonomous Role Assignment Using Contact Stimuli in Swarm Robotic Systems