English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Many species in nature demonstrate symbiotic relationships leading toemergent behaviors through cooperation, which are sometimes beyond the scope ofthe partnerships within the same species. These symbiotic relationships areclassified as mutualism, commensalism, and parasitism based on the benefitlevels involved. While these partnerships are ubiquitous in nature, it isimperative to understand the benefits of collective behaviors in designingheterogeneous multi-robot systems (HMRS). In this paper, we investigate theimpact of heterogeneity on the performance of HMRS applied to a search andrescue problem. The groups consisting of searchers and rescuers, varied in theindividual robot behaviors with multiple degrees of functionality overlap andgroup compositions, demonstrating various levels of heterogeneity. We propose anew technique to measure heterogeneity in the agents through the use ofBehavior Trees and use it to obtain heterogeneity informatics from our MonteCarlo simulations. The results show a positive correlation between the group'sheterogeneity measure and the rescue efficiency demonstrating benefits in mostof the scenarios. However, we also see cases where heterogeneity may hamper thegroup's abilities pointing to the need for determining the optimalheterogeneity in group required to maximally benefit from HMRS in real-worldapplications.

Impact of Heterogeneity in Multi-Robot Systems on Collective Behaviors Studied Using a Search and Rescue Problem