Distributed Edge-based Event-driven Consensus Formation Strategy for Multiple Amphibious Spherical Robots

He Yin; Shuxiang Guo; Liwei Shi; Huiming Xing; Xihuan Hou; Zan Li; Debin Xia; Mugen Zhou

doi:10.1109/ICMA49215.2020.9233534

Distributed Edge-based Event-driven Consensus Formation Strategy for Multiple Amphibious Spherical Robots

He Yin, Shuxiang Guo, Liwei Shi, Huiming Xing, Xihuan Hou, Zan Li, Debin Xia, Mugen Zhou

School of Medical and Technology

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In order to complete tasks efficiently, multiple robots are usually required to cooperate with each other. This leads to many requirements for the control strategy of multiple robots. In response to these needs, an edge-based event-driven consensus formation control strategy is proposed in this paper. The proposed formation control strategy merges virtual linkage formation control algorithm, edge-based event-driven consensus control algorithm and artificial potential field algorithm together. The virtual linkage formation control algorithm mainly controls the formation of multiple robot formations. The edge-based event-driven consistency control strategy is used to maintain the formation of multiple robots and increase energy utilization. The artificial potential field method is used to ensure the safe distance of each robot. The simulation experiment results prove that the proposed formation control strategy can realize the formation of multiple robots.

Original language	English
Title of host publication	2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1197-1202
Number of pages	6
ISBN (Electronic)	9781728164151
DOIs	https://doi.org/10.1109/ICMA49215.2020.9233534
Publication status	Published - 13 Oct 2020
Event	17th IEEE International Conference on Mechatronics and Automation, ICMA 2020 - Beijing, China Duration: 13 Oct 2020 → 16 Oct 2020

Publication series

Name	2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020

Conference

Conference	17th IEEE International Conference on Mechatronics and Automation, ICMA 2020
Country/Territory	China
City	Beijing
Period	13/10/20 → 16/10/20

Keywords

Amphibious spherical robot
Distributed formation control
Event-driven consensus control

Access to Document

10.1109/ICMA49215.2020.9233534

Cite this

Yin, H., Guo, S., Shi, L., Xing, H., Hou, X., Li, Z., Xia, D., & Zhou, M. (2020). Distributed Edge-based Event-driven Consensus Formation Strategy for Multiple Amphibious Spherical Robots. In 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020 (pp. 1197-1202). Article 9233534 (2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA49215.2020.9233534

Yin, He ; Guo, Shuxiang ; Shi, Liwei et al. / Distributed Edge-based Event-driven Consensus Formation Strategy for Multiple Amphibious Spherical Robots. 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 1197-1202 (2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020).

@inproceedings{d5edf9b654d4465dbfc460c6fe8e43c8,

title = "Distributed Edge-based Event-driven Consensus Formation Strategy for Multiple Amphibious Spherical Robots",

abstract = "In order to complete tasks efficiently, multiple robots are usually required to cooperate with each other. This leads to many requirements for the control strategy of multiple robots. In response to these needs, an edge-based event-driven consensus formation control strategy is proposed in this paper. The proposed formation control strategy merges virtual linkage formation control algorithm, edge-based event-driven consensus control algorithm and artificial potential field algorithm together. The virtual linkage formation control algorithm mainly controls the formation of multiple robot formations. The edge-based event-driven consistency control strategy is used to maintain the formation of multiple robots and increase energy utilization. The artificial potential field method is used to ensure the safe distance of each robot. The simulation experiment results prove that the proposed formation control strategy can realize the formation of multiple robots.",

keywords = "Amphibious spherical robot, Distributed formation control, Event-driven consensus control",

author = "He Yin and Shuxiang Guo and Liwei Shi and Huiming Xing and Xihuan Hou and Zan Li and Debin Xia and Mugen Zhou",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 17th IEEE International Conference on Mechatronics and Automation, ICMA 2020 ; Conference date: 13-10-2020 Through 16-10-2020",

year = "2020",

month = oct,

day = "13",

doi = "10.1109/ICMA49215.2020.9233534",

language = "English",

series = "2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020",

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Yin, H, Guo, S, Shi, L, Xing, H, Hou, X, Li, Z, Xia, D & Zhou, M 2020, Distributed Edge-based Event-driven Consensus Formation Strategy for Multiple Amphibious Spherical Robots. in 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020., 9233534, 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020, Institute of Electrical and Electronics Engineers Inc., pp. 1197-1202, 17th IEEE International Conference on Mechatronics and Automation, ICMA 2020, Beijing, China, 13/10/20. https://doi.org/10.1109/ICMA49215.2020.9233534

Distributed Edge-based Event-driven Consensus Formation Strategy for Multiple Amphibious Spherical Robots. / Yin, He; Guo, Shuxiang; Shi, Liwei et al.
2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 1197-1202 9233534 (2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Distributed Edge-based Event-driven Consensus Formation Strategy for Multiple Amphibious Spherical Robots

AU - Yin, He

AU - Guo, Shuxiang

AU - Shi, Liwei

AU - Xing, Huiming

AU - Hou, Xihuan

AU - Li, Zan

AU - Xia, Debin

AU - Zhou, Mugen

PY - 2020/10/13

Y1 - 2020/10/13

N2 - In order to complete tasks efficiently, multiple robots are usually required to cooperate with each other. This leads to many requirements for the control strategy of multiple robots. In response to these needs, an edge-based event-driven consensus formation control strategy is proposed in this paper. The proposed formation control strategy merges virtual linkage formation control algorithm, edge-based event-driven consensus control algorithm and artificial potential field algorithm together. The virtual linkage formation control algorithm mainly controls the formation of multiple robot formations. The edge-based event-driven consistency control strategy is used to maintain the formation of multiple robots and increase energy utilization. The artificial potential field method is used to ensure the safe distance of each robot. The simulation experiment results prove that the proposed formation control strategy can realize the formation of multiple robots.

AB - In order to complete tasks efficiently, multiple robots are usually required to cooperate with each other. This leads to many requirements for the control strategy of multiple robots. In response to these needs, an edge-based event-driven consensus formation control strategy is proposed in this paper. The proposed formation control strategy merges virtual linkage formation control algorithm, edge-based event-driven consensus control algorithm and artificial potential field algorithm together. The virtual linkage formation control algorithm mainly controls the formation of multiple robot formations. The edge-based event-driven consistency control strategy is used to maintain the formation of multiple robots and increase energy utilization. The artificial potential field method is used to ensure the safe distance of each robot. The simulation experiment results prove that the proposed formation control strategy can realize the formation of multiple robots.

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KW - Event-driven consensus control

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T3 - 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020

SP - 1197

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BT - 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020

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Yin H, Guo S, Shi L, Xing H, Hou X, Li Z et al. Distributed Edge-based Event-driven Consensus Formation Strategy for Multiple Amphibious Spherical Robots. In 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 1197-1202. 9233534. (2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020). doi: 10.1109/ICMA49215.2020.9233534

Distributed Edge-based Event-driven Consensus Formation Strategy for Multiple Amphibious Spherical Robots

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