Intelligent Controllers for Multirobot Competitive and Dynamic Tracking
This paper focuses on the problem of target tracking using k fittest robots in a group of n mobile robots with n>k. We present centralized and distributed coordination models with all-to-all and limited communications, respectively. For the case of all-to-all communication between robots, theoret...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2018/4573631 |
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| author | Mei Liu Shuai Li Xiaodi Li Long Jin Chenfu Yi Zhiguan Huang |
| author_facet | Mei Liu Shuai Li Xiaodi Li Long Jin Chenfu Yi Zhiguan Huang |
| author_sort | Mei Liu |
| collection | DOAJ |
| description | This paper focuses on the problem of target tracking using k fittest robots in a group of n mobile robots with n>k. We present centralized and distributed coordination models with all-to-all and limited communications, respectively. For the case of all-to-all communication between robots, theoretical analysis is presented to prove the exponential stability of the whole system. In real applications of robotic networks, a robot may only be allowed to exchange information with a limited number of neighbors. In such a limited communication case where centralized quantity is not available, a consensus filter is used to estimate the centralized quantities in a distributed way, and a distributed competitive target tracking is thus achieved. The stability of the distributed control is also proved in theory. Finally, illustrative examples are provided and analyzed to substantiate the efficacy of the proposed models for tracking moving target in a competition manner with all-to-all communications and limited communications. |
| format | Article |
| id | doaj-art-7064f8d142784e258e58a8082e935356 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-7064f8d142784e258e58a8082e9353562025-02-03T01:12:28ZengWileyComplexity1076-27871099-05262018-01-01201810.1155/2018/45736314573631Intelligent Controllers for Multirobot Competitive and Dynamic TrackingMei Liu0Shuai Li1Xiaodi Li2Long Jin3Chenfu Yi4Zhiguan Huang5Guangdong Provincial Engineering Technology Research Center for Sports Assistive Devices, Guangzhou Sport University, Guangzhou 510000, ChinaDepartment of Computing, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong KongSchool of Mathematical Sciences, Shandong Normal University, Ji’nan, Shandong, ChinaGuangdong Provincial Engineering Technology Research Center for Sports Assistive Devices, Guangzhou Sport University, Guangzhou 510000, ChinaSchool of Information Engineering, Jiangxi University of Science and Technology, Ganzhou 341000, ChinaGuangdong Provincial Engineering Technology Research Center for Sports Assistive Devices, Guangzhou Sport University, Guangzhou 510000, ChinaThis paper focuses on the problem of target tracking using k fittest robots in a group of n mobile robots with n>k. We present centralized and distributed coordination models with all-to-all and limited communications, respectively. For the case of all-to-all communication between robots, theoretical analysis is presented to prove the exponential stability of the whole system. In real applications of robotic networks, a robot may only be allowed to exchange information with a limited number of neighbors. In such a limited communication case where centralized quantity is not available, a consensus filter is used to estimate the centralized quantities in a distributed way, and a distributed competitive target tracking is thus achieved. The stability of the distributed control is also proved in theory. Finally, illustrative examples are provided and analyzed to substantiate the efficacy of the proposed models for tracking moving target in a competition manner with all-to-all communications and limited communications.http://dx.doi.org/10.1155/2018/4573631 |
| spellingShingle | Mei Liu Shuai Li Xiaodi Li Long Jin Chenfu Yi Zhiguan Huang Intelligent Controllers for Multirobot Competitive and Dynamic Tracking Complexity |
| title | Intelligent Controllers for Multirobot Competitive and Dynamic Tracking |
| title_full | Intelligent Controllers for Multirobot Competitive and Dynamic Tracking |
| title_fullStr | Intelligent Controllers for Multirobot Competitive and Dynamic Tracking |
| title_full_unstemmed | Intelligent Controllers for Multirobot Competitive and Dynamic Tracking |
| title_short | Intelligent Controllers for Multirobot Competitive and Dynamic Tracking |
| title_sort | intelligent controllers for multirobot competitive and dynamic tracking |
| url | http://dx.doi.org/10.1155/2018/4573631 |
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