Abstract—In some tasks, such as moving objects in a swarm the robots are divided into several groups, each of which may vary. In situations where the robots are controlled by a central divide the group is easy. But swarm robots are generally without a central controller. In this paper, an algorithm is proposed to split the group of robots. Algorithm for swarm partition that inspired by honey bees colony in search of food, is designed according to sources in the environment. the group like bees, has participated in a decision. Each robot independently and without knowledge of the decision of other robots, based on observations of the distance to resources in the environment and their values select a resource. Swarm partition and scalability of the proposed algorithm have been studied for different number of robots and resources. For this purpose, the experiments were performed with different parameters, including number of robots, number of resources, and resources’ values. Simulation results show that the robots are divided into groups according to the value of resources and the partition error decreased.

Index Terms—Robotics team, Bee colony, Group decision-making, Group partition.

Cite: Lida Talebsafa and Ali Ghafari, "Robots Groups Partition According to the Non-uniform Distributed Resources in the Environment," International Journal of Mechanical Engineering and Robotics Research, Vol.2, No. 2, pp. 1-7, April 2013.