Rapid Coverage Control with Multi-agent Systems Based on K-Means Algorithm

Feng, Yuze; Lü, Gang; Bai, Wenjie; Zhao, Jianhang; Bai, YuMo; Xu, Tao

doi:10.1109/iccss52145.2020.9336858

Cited by 2 publications

(1 citation statement)

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“…These systems are composed of many homogeneous or heterogeneous intelligent software or hardware agents. They are agents with certain perception, communication, computing, and execution capabilities to form a system [20][21][22]. In other words, the swarm robot system can be a multi-agent system by properly designing the path tracking controller and the path profiles (i.e., several formation types).…”

Section: Introductionmentioning

confidence: 99%

Grey Estimator-Based Tracking Controller Applied to Swarm Robot Formation

Chen

Chiu

Lee³

2021

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Mobile robots are widely used in many applications, while various types of mobile robots and their control researches have been proposed in literature. Since swarm robots have higher flexibility and capacity for teamwork, this paper presents a grey estimator-based tracking controller for formation trajectory tracking of swarm robots. First, wheel-type mobile robots are used and modeled for the controller design. Then, a grey dynamic estimator is developed to estimate the environmental disturbance and model uncertainty for linear feedback compensation. As a result, the asymptotic trajectory tracking is assured, so that the application on the swarm robot formation is achieved for a multi-agent system. The computational complexity is slightly reduced by the design. Finally, in order to verify the reliability of swarm robot formation, several types of formation are maintained by the grey estimator-based feedback linearization controller.

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Section: Introductionmentioning

confidence: 99%