eprintid: 3926
rev_number: 7
eprint_status: archive
userid: 261
dir: disk0/00/00/39/26
datestamp: 2020-01-19 03:33:44
lastmod: 2020-01-19 03:33:44
status_changed: 2020-01-19 03:33:44
type: conference_item
metadata_visibility: show
creators_name: Pham, Duy Hung
creators_name: La, Manh Hung
creators_name: Ngo, Trung Dung
creators_id: hungpd@vnu.edu.vn
creators_id: hla@unr.edu
creators_id: dungnt@ieee.org
title: Adaptive Hierarchical Distributed Control with Cooperative Task Allocation for Robot Swarms
ispublished: pub
subjects: ElectronicsandComputerEngineering
divisions: fac_fet
abstract: We present an adaptive hierarchical distributed control strategy (AHDC) enabling a small swarm of mobile robots to explore and track very large target clouds. The hierarchical distributed control architecture (HDC) is designed to govern not only robot behaviours but also their neighbourhood connectivities for global network integrity preservation. A mobile robot equipped with the HDC is capable of adaptively pruning neighbourhood connectivities so the robot can deal with complexity and constraints of local connectivity topologies. A cooperative target observation, tracking, and release (COTR) algorithm is incorporated into the HDC to allow a robot to track more than one target in large target clouds. We have demonstrated and evaluated effectiveness of the AHDC through both simulation and real-world experiments.
date: 2020
date_type: published
full_text_status: none
pres_type: paper
event_title: The 12th IEEE/SICE International Symposium on System Integration (SII)
event_location: Hawaii, USA
event_dates: January 12-15, 2020
event_type: conference
refereed: TRUE
citation:   Pham, Duy Hung and La, Manh Hung and Ngo, Trung Dung  (2020) Adaptive Hierarchical Distributed Control with Cooperative Task Allocation for Robot Swarms.  In: The 12th IEEE/SICE International Symposium on System Integration (SII), January 12-15, 2020, Hawaii, USA.