Distributed and Time-Delayed k-Winner-Take-All Network for Competitive Coordination of Multiple Robots
文献类型：期刊论文
| 作者 | Jin, Long1,2; Liang, Siqi1,2; Luo, Xin3 ; Zhou, Mengchu4,5
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| 刊名 | IEEE TRANSACTIONS ON CYBERNETICS
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| 出版日期 | 2022-05-09 |
| 页码 | 12 |
| 关键词 | Mathematical models Delay effects Task analysis Robot kinematics Multi-robot systems Robustness Heuristic algorithms Competitive coordination distributed control intelligent network k-winner-take-all (kWTA) multirobot system optimization time delay |
| ISSN号 | 2168-2267 |
| DOI | 10.1109/TCYB.2022.3159367 |
| 通讯作者 | Luo, Xin(luoxin21@cigit.ac.cn) |
| 英文摘要 | In this article, a distributed and time-delayed k-winner-take-all (DT-kWTA) network is established and analyzed for competitively coordinated task assignment of a multirobot system. It is considered and designed from the following three aspects. First, a network is built based on a k-winner-take-all (kWTA) competitive algorithm that selects k maximum values from the inputs. Second, a distributed control strategy is used to improve the network in terms of communication load and computational burden. Third, the time-delayed problem prevalent in arbitrary causal systems (especially, in networks) is taken into account in the proposed network. This work combines distributed kWTA competition network with time delay for the first time, thus enabling it to better handle realistic applications than previous work. In addition, it theoretically derives the maximum delay allowed by the network and proves the convergence and robustness of the network. The results are applied to a multirobot system to conduct its robots' competitive coordination to complete the given task. |
| 资助项目 | National Natural Science Foundation of China[62176109] ; Natural Science Foundation of Gansu Province[21JR7RA531] ; Gansu Provincial Youth Doctoral Fund of Colleges and Universities[2021QB-003] ; Fundamental Research Funds for the Central Universities[lzujbky-2021-65] ; Supercomputing Center of Lanzhou University ; Pioneer Hundred Talents Program of Chinese Academy of Sciences ; Special Projects of the Central Government in Guidance of Local Science and Technology Development[YDZX20216200001297] ; Science and Technology Project of Chengguan Discrict of Lanzhou[2021JSCX0014] ; State Key Laboratory of Integrated Services Networks[ISN23-10] ; CAAI-Huawei MindSpore Open Fund[CAAIXSJLJJ-2021-035A] ; Fundo para o Desenvolvimento das Ciencias e da Tecnologia (FDCT)[0047/2021/A1] |
| WOS研究方向 | Automation & Control Systems ; Computer Science |
| 语种 | 英语 |
| WOS记录号 | WOS:000795625200001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 源URL | [http://119.78.100.138/handle/2HOD01W0/16230]  |
| 专题 | 中国科学院重庆绿色智能技术研究院 |
| 通讯作者 | Luo, Xin |
| 作者单位 | 1.Lanzhou Univ, Sch Informat Sci & Engn, Lanzhou 730000, Peoples R China 2.Xidian Univ, State Key Lab Integrated Serv Networks, Xian 710071, 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.New Jersey Inst Technol, Helen & John C Hartmann Dept Elect & Comp Engn, Newark, NJ 07102 USA 5.Macau Univ Sci & Technol, Macao Inst Syst Engn & Collaborat Lab Intelligent, Macau, Peoples R China |
| 推荐引用方式 GB/T 7714 | Jin, Long,Liang, Siqi,Luo, Xin,et al. Distributed and Time-Delayed k-Winner-Take-All Network for Competitive Coordination of Multiple Robots[J]. IEEE TRANSACTIONS ON CYBERNETICS,2022:12. |
| APA | Jin, Long,Liang, Siqi,Luo, Xin,&Zhou, Mengchu.(2022).Distributed and Time-Delayed k-Winner-Take-All Network for Competitive Coordination of Multiple Robots.IEEE TRANSACTIONS ON CYBERNETICS,12. |
| MLA | Jin, Long,et al."Distributed and Time-Delayed k-Winner-Take-All Network for Competitive Coordination of Multiple Robots".IEEE TRANSACTIONS ON CYBERNETICS (2022):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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