Hierarchical self-organization for task-oriented swarm robotics

The problems of diversity of tasks and non-structural environment have been put in front of robotic development, on the other hand, we urgently hope they consume low cost and have high reliability, so the method of multicooperation is wildly used. Then we would get the swarm robotics social system with the individual growing. In this paper, we proposed hierarchical organizational model to definite social order during task decomposition; then, we design the method of behavior generation based on proposition/transition Petri networks, which would assist the system to construct combined behavior using the sample individual behavior to solve a variety of tasks