Swarm robots task allocation based on response threshold model

A task allocation algorithm is proposed for the foraging mission. The goal of the foraging mission is to collect foods timely so that the food consumption at home base can be satisfied. This algorithm is based on response threshold model which can account for the regulation of division of labor in insect societies. This algorithm is scalable and distributed, and no communication strategy is utilized. Simulation experiments are carried out to study the effect of response threshold on the performance of foraging. The simulation experiments verified that this algorithm can respond properly to the change of food density and the change of food consumption rate.