兰州大学机构库
A Distributed Competitive and Collaborative Coordination for Multirobot Systems
M. Liu; Y. Li; Y. Chen; Y. Qi; L. Jin
2024-05-07
Source PublicationIEEE Transactions on Mobile Computing   Impact Factor & Quartile Of Published Year  The Latest Impact Factor & Quartile
ISSN1558-0660
VolumePPIssue:99Pages:1-13
AbstractEnlightened by competitive and collaborative coordination behaviors widely observed in natural swarm systems, this work emphasizes these coordinating modes in multirobot systems and optimizes system stability along with resource utilization. Then, schemes are constructed to describe and model these two modes, where a $k$-winner-take-all concept is introduced as the driving principle of multirobot competition. In addition, a distributed coordination approach is established to effectively handle the above schemes aided with optimality theory, which is developed by a fusion of a recurrent neural dynamics solver and a distributed solver. The former is a single-layer neural dynamics model with a simple structure, and the latter transforms the involved global information to a distributed type via consensus. Both of them are carried out in the discrete-time domain to fit the actual application. Finally, the convergence and stability of the proposed coordination approach are proved via theoretical analysis and further demonstrated through simulations and experiments.
KeywordCompetition and collaboration consensus distributed control $k$ -winner-take-all multirobot systems
PublisherIEEE
DOI10.1109/TMC.2024.3397242
Indexed ByIEEE
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Document Type期刊论文
Identifierhttps://ir.lzu.edu.cn/handle/262010/588981
Collection兰州大学
信息科学与工程学院
Affiliation
1.School of Information Science and Engineering, Lanzhou University, Lanzhou, China
2.School of Information Science and Engineering, Lanzhou University, Lanzhou, China
3.School of Information Science and Engineering, Lanzhou University, Lanzhou, China
4.School of Information Science and Engineering, Lanzhou University, Lanzhou, China
5.School of Information Science and Engineering, Lanzhou University, Lanzhou, China
Recommended Citation
GB/T 7714
M. Liu,Y. Li,Y. Chen,et al. A Distributed Competitive and Collaborative Coordination for Multirobot Systems[J]. IEEE Transactions on Mobile Computing,2024,PP(99):1-13.
APA M. Liu,Y. Li,Y. Chen,Y. Qi,&L. Jin.(2024).A Distributed Competitive and Collaborative Coordination for Multirobot Systems.IEEE Transactions on Mobile Computing,PP(99),1-13.
MLA M. Liu,et al."A Distributed Competitive and Collaborative Coordination for Multirobot Systems".IEEE Transactions on Mobile Computing PP.99(2024):1-13.
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