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CSpace
Distributed Competition of Multi-Robot Coordination Under Variable and Switching Topologies
Jin, Long1,2; Qi, Yimeng1,2; Luo, Xin3; Li, Shuai4; Shang, Mingsheng3
2021-11-15
摘要This paper investigates a distributed competition behavior in multi-robot coordination under variable communication topology and switching one. In terms of multi-robot competition-based coordination, a winner-take-all (WTA) strategy is leveraged to address this issue with inevitable environmental barriers incorporated. Moreover, an innovative control theory stimulated gradient neural network (CTSGNN) algorithm is proposed to realize the WTA with prominent robustness and convergence over the traditional ones. Besides, to adapt to diversified local communication modes among multi-robot systems, fast variable and low switching topologies are constructed to establish two dynamic consensus estimators, accompanied by the proposed distributed control schemes. Traditional algorithms are introduced and served as a contrast. Afterward, the global convergence of the proposed algorithm in dealing with multi-robot competitive coordination, the universality of the application scenario, as well as the weaknesses of traditional methods are substantiated theoretically. The effectiveness and superiority of the proposed CTSGNN algorithm and the resultant distributed control schemes by integrating consensus estimators are further sustained via simulations.
关键词Robot kinematics Robots Topology Multi-robot systems Heuristic algorithms Task analysis Collaboration Multi-robot coordination winner-take-all gradient neural network distributed control
DOI10.1109/TASE.2021.3126385
发表期刊IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
ISSN1545-5955
页码12
通讯作者Luo, Xin(luoxin21@cigit.ac.cn) ; Li, Shuai(lishuai@lzu.edu.cn)
收录类别SCI
WOS记录号WOS:000732242300001
语种英语