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.
Full text not available from this repository.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.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Subjects: | Electronics and Communications > Electronics and Computer Engineering |
| Divisions: | Faculty of Electronics and Telecommunications (FET) |
| Depositing User: | Hung Pham Duy |
| Date Deposited: | 19 Jan 2020 03:33 |
| Last Modified: | 19 Jan 2020 03:33 |
| URI: | http://eprints.uet.vnu.edu.vn/eprints/id/eprint/3926 |
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