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

• Autores: Long Jin, Shuai Ji, Hung Manh La--, Xin Zhang, Bin Hu
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 100, 2019, págs. 75-81
• Idioma: inglés
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• Resumen

  • 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.