Dynamic task allocation in multi-robot coordination for moving target tracking: A distributed approach

Long Jin, Shuai Li, Hung Manh La, Xin Zhang, Bin Hu

Research output: Journal article publicationJournal articleAcademic researchpeer-review

62 Citations (Scopus)

Abstract

A new coordination control is developed in this paper for multiple non-holonomic robots in a competitive manner for target tracking with limited communications. In this proposed control approach, only winners of the competition are allocated the task and activated to move towards the target. A distributed coordination model is proposed and its stability is proved in theory. Inspired by the besieging behaviors in social animals for predating, an effective strategy to handle the situation with higher target speed than trackers is also proposed and verified to be extraordinarily effective.

Original languageEnglish
Pages (from-to)75-81
Number of pages7
JournalAutomatica
Volume100
DOIs
Publication statusPublished - 1 Feb 2019

Keywords

  • Distributed control
  • Dynamic task allocation
  • k-winners-take-all (k-WTA)
  • Nonlinear filters
  • Target tracking

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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