@inproceedings{374e0ed5c7d74794a61ead477a0a1b3e,
title = "Threshold Decision-Making Dynamics Adaptive to Physical Constraints and Changing Environment",
abstract = "We propose a threshold decision-making frame-work for controlling the physical dynamics of an agent switching between two spatial tasks. Our framework couples a nonlinear opinion dynamics model that represents the evolution of an agent's preference for a particular task with the physical dynamics of the agent. We prove the bifurcation that governs the behavior of the coupled dynamics. We show by means of the bifurcation behavior how the coupled dynamics are adaptive to the physical constraints of the agent. We also show how the bifurcation can be modulated to allow the agent to switch tasks based on thresholds adaptive to environmental conditions. We illustrate the benefits of the approach through a multi-robot task allocation application for trash collection.",
author = "Giovanna Amorim and Mar{\'i}a Santos and Shinkyu Park and Alessio Franci and Leonard, {Naomi Ehrich}",
note = "Publisher Copyright: {\textcopyright} 2024 EUCA.; 2024 European Control Conference, ECC 2024 ; Conference date: 25-06-2024 Through 28-06-2024",
year = "2024",
doi = "10.23919/ECC64448.2024.10591177",
language = "English (US)",
series = "2024 European Control Conference, ECC 2024",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1908--1913",
booktitle = "2024 European Control Conference, ECC 2024",
address = "United States",
}