Multiple Leader Candidate and Competitive Position Allocation for Robust Formation against Member Robot Faults
This paper proposes a Multiple Leader Candidate (MLC) structure and a Competitive Position Allocation (CPA) algorithm which can be applicable for various applications including environmental sensing. Unlike previous formation structures such as virtual-leader and actual-leader structures with positi...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2015-05-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/15/5/10771 |
| _version_ | 1811187518679285760 |
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| author | Ji-Wook Kwon Jin Hyo Kim Jiwon Seo |
| author_facet | Ji-Wook Kwon Jin Hyo Kim Jiwon Seo |
| author_sort | Ji-Wook Kwon |
| collection | DOAJ |
| description | This paper proposes a Multiple Leader Candidate (MLC) structure and a Competitive Position Allocation (CPA) algorithm which can be applicable for various applications including environmental sensing. Unlike previous formation structures such as virtual-leader and actual-leader structures with position allocation including a rigid allocation and an optimization based allocation, the formation employing the proposed MLC structure and CPA algorithm is robust against the fault (or disappearance) of the member robots and reduces the entire cost. In the MLC structure, a leader of the entire system is chosen among leader candidate robots. The CPA algorithm is the decentralized position allocation algorithm that assigns the robots to the vertex of the formation via the competition of the adjacent robots. The numerical simulations and experimental results are included to show the feasibility and the performance of the multiple robot system employing the proposed MLC structure and the CPA algorithm. |
| first_indexed | 2024-04-11T14:03:28Z |
| format | Article |
| id | doaj.art-3f25b52ef5724023977f2dd1fe57d9cc |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T14:03:28Z |
| publishDate | 2015-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-3f25b52ef5724023977f2dd1fe57d9cc2022-12-22T04:19:58ZengMDPI AGSensors1424-82202015-05-01155107711079010.3390/s150510771s150510771Multiple Leader Candidate and Competitive Position Allocation for Robust Formation against Member Robot FaultsJi-Wook Kwon0Jin Hyo Kim1Jiwon Seo2Yonsei Institute of Convergence Technology, Yonsei University, 85 Songdogwahak-ro, Incheon 406-840, KoreaYonsei Institute of Convergence Technology, Yonsei University, 85 Songdogwahak-ro, Incheon 406-840, KoreaYonsei Institute of Convergence Technology, Yonsei University, 85 Songdogwahak-ro, Incheon 406-840, KoreaThis paper proposes a Multiple Leader Candidate (MLC) structure and a Competitive Position Allocation (CPA) algorithm which can be applicable for various applications including environmental sensing. Unlike previous formation structures such as virtual-leader and actual-leader structures with position allocation including a rigid allocation and an optimization based allocation, the formation employing the proposed MLC structure and CPA algorithm is robust against the fault (or disappearance) of the member robots and reduces the entire cost. In the MLC structure, a leader of the entire system is chosen among leader candidate robots. The CPA algorithm is the decentralized position allocation algorithm that assigns the robots to the vertex of the formation via the competition of the adjacent robots. The numerical simulations and experimental results are included to show the feasibility and the performance of the multiple robot system employing the proposed MLC structure and the CPA algorithm.http://www.mdpi.com/1424-8220/15/5/10771formation control, robust formation, multiple leader candidate structure, competitive position allocation algorithm |
| spellingShingle | Ji-Wook Kwon Jin Hyo Kim Jiwon Seo Multiple Leader Candidate and Competitive Position Allocation for Robust Formation against Member Robot Faults Sensors formation control, robust formation, multiple leader candidate structure, competitive position allocation algorithm |
| title | Multiple Leader Candidate and Competitive Position Allocation for Robust Formation against Member Robot Faults |
| title_full | Multiple Leader Candidate and Competitive Position Allocation for Robust Formation against Member Robot Faults |
| title_fullStr | Multiple Leader Candidate and Competitive Position Allocation for Robust Formation against Member Robot Faults |
| title_full_unstemmed | Multiple Leader Candidate and Competitive Position Allocation for Robust Formation against Member Robot Faults |
| title_short | Multiple Leader Candidate and Competitive Position Allocation for Robust Formation against Member Robot Faults |
| title_sort | multiple leader candidate and competitive position allocation for robust formation against member robot faults |
| topic | formation control, robust formation, multiple leader candidate structure, competitive position allocation algorithm |
| url | http://www.mdpi.com/1424-8220/15/5/10771 |
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