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

doi:10.1016/j.automatica.2018.11.001

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

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

112 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 language	English
Pages (from-to)	75-81
Number of pages	7
Journal	Automatica
Volume	100
DOIs	https://doi.org/10.1016/j.automatica.2018.11.001
Publication status	Published - Feb 2019
Externally published	Yes

Keywords

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

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10.1016/j.automatica.2018.11.001

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

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.",

keywords = "Distributed control, Dynamic task allocation, Nonlinear filters, Target tracking, k-winners-take-all (k-WTA)",

author = "Long Jin and Shuai Li and La, {Hung Manh} and Xin Zhang and Bin Hu",

note = "Publisher Copyright: {\textcopyright} 2018",

year = "2019",

month = feb,

doi = "10.1016/j.automatica.2018.11.001",

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T1 - Dynamic task allocation in multi-robot coordination for moving target tracking

T2 - A distributed approach

AU - Jin, Long

AU - Li, Shuai

AU - La, Hung Manh

AU - Zhang, Xin

AU - Hu, Bin

PY - 2019/2

Y1 - 2019/2

N2 - 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.

AB - 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.

KW - Distributed control

KW - Dynamic task allocation

KW - Nonlinear filters

KW - Target tracking

KW - k-winners-take-all (k-WTA)

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DO - 10.1016/j.automatica.2018.11.001

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SN - 0005-1098

VL - 100

SP - 75

EP - 81

JO - Automatica

JF - Automatica

ER -

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

Abstract

Keywords

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