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In this paper, a SOM (self organizing map)-based approach to task assignment of multi-robots in 3-D dynamic environments is proposed. This approach intends to mimic the operating mechanism of biological neural systems, and integrates the advantages and characteristics of biological neural systems. It is capable of dynamically planning the paths of multi-robots in 3-D environments under uncertain situations, such as when some robots are added in or broken down or when more than one robot is needed for some special task locations. The effectiveness and efficiency of the proposed approach are demonstrated by simulation studies.
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Yi et al. (2014) studied this question.
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