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Pass the Bucket: Efficient, Robust, Local Load Balancing for Teams of Heterogeneous Robots

arXiv · AI, language, vision and robotics · article · Aug 27, 2026 · UTC

We study the problem of decentralized, self-organized task sharing for a swarm of heterogeneous robots that collaborate in transportation or other objectives that require coordinated motion planning. To this end, we present theoretical and practical results for the simple but effective mechanism of \emph{bucket brigades} for load balancing, in which a team of heterogenous robots share a spatial task in a confined, one-dimensional space, while only being able to sense collisions with neighbors or walls. The goal is to optimize throughput of the overall system, without central control or informa

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