Journal
AUTOMATICA
Volume 100, Issue -, Pages 75-81Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2018.11.001
Keywords
Dynamic task allocation; k-winners-take-all (k-WTA); Distributed control; Target tracking; Nonlinear filters
Funding
- National Natural Science Foundation of China [11561029, 61703189]
- Opening Foundation of Key Laboratory of Opto-technology and Intelligent Control (Lanzhou Jiaotong University), Ministry of Education, China [KFKT2018-1]
- Natural Science Foundation of Gansu Province, China [18JR3RA264]
- National Basic Research Program of China (973 Program) [2014CB744600]
- Belt and Road Special Project of Lanzhou University, China [2018ldbryb020]
- Fundamental Research Funds for the Central Universities, China [lzujbky-2017-37]
- Natural Science Foundation of Hunan Province, China [2017113257]
- Research Foundation of Education Bureau of Hunan Province, China [17C1299]
- Hong Kong Research Grants Council Early Career Scheme [25214015]
- Hong Kong Polytechnic University [G-YBMU, G-UA7L, 4-ZZHD, F-PP2C, 4-BCCS]
Ask authors/readers for more resources
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. (C) 2018 Published by Elsevier Ltd.
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