Distributed Competition of Multi-Robot Coordination Under Variable and Switching Topologies
文献类型：期刊论文
| 作者 | Jin, Long1,2; Qi, Yimeng1,2; Luo, Xin3 ; Li, Shuai4; Shang, Mingsheng3
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| 刊名 | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
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| 出版日期 | 2021-11-15 |
| 页码 | 12 |
| ISSN号 | 1545-5955 |
| 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 |
| DOI | 10.1109/TASE.2021.3126385 |
| 通讯作者 | Luo, Xin(luoxin21@cigit.ac.cn) ; Li, Shuai(lishuai@lzu.edu.cn) |
| 英文摘要 | 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. |
| 资助项目 | National Natural Science Foundation of China[62176109] ; Team Project of Natural Science Foundation of Qinghai Province, China[2020-ZJ-903] ; Key Laboratory of IoT of Qinghai[2020-ZJ-Y16] ; Natural Science Foundation of Chongqing, China[cstc2019jcyjjqX0013] ; Natural Science Foundation of Chongqing, China[cstc2020jcyj-zdxmX0028] ; Chinese Academy of Sciences Light of West China Program ; Natural Science Foundation of Gansu Province[21JR7RA531] ; Natural Science Foundation of Gansu Province[20JR10RA639] ; CAAI-Huawei MindSpore Open Fund, China[CAAIXSJLJJ-2020-012A] ; Gansu Provincial Youth Doctoral Fund of Colleges and Universities[2021QB-003] ; Fundamental Research Funds for the Central Universities[lzujbky-2021-65] ; Education Department of Gansu Province: Excellent Graduate student Innovation Star Project[2021CXZX-120] ; Pioneer Hundred Talents Program of Chinese Academy of Sciences ; Supercomputing Center of Lanzhou University |
| WOS研究方向 | Automation & Control Systems |
| 语种 | 英语 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| WOS记录号 | WOS:000732242300001 |
| 源URL | [http://119.78.100.138/handle/2HOD01W0/14770]  |
| 专题 | 中国科学院重庆绿色智能技术研究院 |
| 通讯作者 | Luo, Xin; Li, Shuai |
| 作者单位 | 1.Lanzhou Univ, Sch Informat Sci & Engn, Lanzhou 730050, Peoples R China 2.Acad Plateau Sci & Sustainabil, Xining 810016, Peoples R China 3.Chinese Acad Sci, Chongqing Inst Green & Intelligent Technol, Chongqing Key Lab Big Data & Intelligent Comp, Chongqing 400714, Peoples R China 4.Lanzhou Univ, Sch Informat Sci & Engn, Lanzhou 730050, Peoples R China |
| 推荐引用方式 GB/T 7714 | Jin, Long,Qi, Yimeng,Luo, Xin,et al. Distributed Competition of Multi-Robot Coordination Under Variable and Switching Topologies[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2021:12. |
| APA | Jin, Long,Qi, Yimeng,Luo, Xin,Li, Shuai,&Shang, Mingsheng.(2021).Distributed Competition of Multi-Robot Coordination Under Variable and Switching Topologies.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,12. |
| MLA | Jin, Long,et al."Distributed Competition of Multi-Robot Coordination Under Variable and Switching Topologies".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2021):12. |
入库方式： OAI收割
来源：重庆绿色智能技术研究院
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