Evaluating Robustness of Coupled Selection Equations Using Sparse Communication

In this paper we evaluate the robustness of a self-organized mechanism to distribute roles among a team of cooperating robots. In previous work, we showed the principal applicability of this approach for the RoboCup scenario. Now we test the robustness in case of either intentionally sparse communication or the behavior in situations, where the communication is massively disturbed. To overcome the problems caused by this, each robot runs the equations individually, synchronizing from time to time, or when the communication is available.