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Multiple Leader Candidate and Competitive Position Allocation for Robust Formation against Member Robot Faults.

Kwon JW, Kim JH, Seo J - Sensors (Basel) (2015)

Bottom Line: 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.In the MLC structure, a leader of the entire system is chosen among leader candidate 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.

View Article: PubMed Central - PubMed

Affiliation: Yonsei Institute of Convergence Technology, Yonsei University, 85 Songdogwahak-ro, Incheon 406-840, Korea. bluemichael@yonsei.ac.kr.

ABSTRACT
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.

No MeSH data available.


Related in: MedlinePlus

The route of the robots in the leader disappearing situation.
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sensors-15-10771-f005: The route of the robots in the leader disappearing situation.

Mentions: Scenario 1 shows the leader disappearing situation where the robots maintain G1, and the leader is lost at t = 10 s. Figure 5 shows the routes of the robots maintaining G1.


Multiple Leader Candidate and Competitive Position Allocation for Robust Formation against Member Robot Faults.

Kwon JW, Kim JH, Seo J - Sensors (Basel) (2015)

The route of the robots in the leader disappearing situation.
© Copyright Policy
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC4482001&req=5

sensors-15-10771-f005: The route of the robots in the leader disappearing situation.
Mentions: Scenario 1 shows the leader disappearing situation where the robots maintain G1, and the leader is lost at t = 10 s. Figure 5 shows the routes of the robots maintaining G1.

Bottom Line: 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.In the MLC structure, a leader of the entire system is chosen among leader candidate 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.

View Article: PubMed Central - PubMed

Affiliation: Yonsei Institute of Convergence Technology, Yonsei University, 85 Songdogwahak-ro, Incheon 406-840, Korea. bluemichael@yonsei.ac.kr.

ABSTRACT
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.

No MeSH data available.


Related in: MedlinePlus