Distributed and Time-Delayed -Winner-Take-All Network for Competitive Coordination of Multiple Robots

Document Type

Article

Publication Date

1-1-2023

Abstract

In this article, a distributed and time-delayed k -winner-take-all (DT- k WTA) network is established and analyzed for competitively coordinated task assignment of a multirobot system. It is considered and designed from the following three aspects. First, a network is built based on a k-winner-take-all (kWTA) competitive algorithm that selects k maximum values from the inputs. Second, a distributed control strategy is used to improve the network in terms of communication load and computational burden. Third, the time-delayed problem prevalent in arbitrary causal systems (especially, in networks) is taken into account in the proposed network. This work combines distributed k WTA competition network with time delay for the first time, thus enabling it to better handle realistic applications than previous work. In addition, it theoretically derives the maximum delay allowed by the network and proves the convergence and robustness of the network. The results are applied to a multirobot system to conduct its robots' competitive coordination to complete the given task.

Identifier

85132539686 (Scopus)

Publication Title

IEEE Transactions on Cybernetics

External Full Text Location

https://doi.org/10.1109/TCYB.2022.3159367

e-ISSN

21682275

ISSN

21682267

First Page

641

Last Page

652

Issue

1

Volume

53

Grant

CAAIXSJLJJ-2021-035A

Fund Ref

Lanzhou University

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