Decentralized Planning of Intelligent Mobile Robot’s Behavior in a Group with Limited Communications
In this paper, we consider the integration of intelligent mobile robots by various designs in a coalition that together solve a common group goal, consisting of a set of individual tasks, each of which is available to some single robots of the coalition. A general approach is proposed for control such coalitions of robots, solving the problem of information exchange, integrating information about the environment from onboard sensor systems of robots from the group, planning the actions of the coalition robots. The problem of forming a mobile reconfigured distributed artificial neural network is considered. A generalized algorithm for deploying such a network is proposed. A modification of the “method of spheres” for planning the actions of the coalition robots solving the formation task is proposed. That modification is necessary for the deployment of a mobile re-configurable distributed artificial neural network in a decentralized control strategy and limited communications is proposed. The results of computer simulation of the solution of the formation task in a group of quadrotors for deployment of an artificial neural network are presented.
KeywordsHeterogeneous multi-robot groups Method of spheres Formation task Intelligent mobile robot Distributed cooperation
The reported study was funded by RFBR according to the research projects No. 17-29-07054 and No. 16-29-04194.
- 3.Jones, C.V, Matarić, M.J.: Behavior-based coordination in multi-robot systems. Auton. Mob. Robot. Sens. Control Decis. Appl., 549–569 (2005)Google Scholar
- 4.Kaliaev, I., Kapustjan, S., Ivanov, D.: Decentralized control strategy within a large group of objects based on swarm intelligence (2011)Google Scholar
- 10.Kostadinova, R., Adam, C.: Performance analysis of the epidemic algorithms. Intell. Control Autom. 6, 6675–6679 (2008)Google Scholar
- 11.Hollerung, T.D., Bleckmann, P.: Epidemic Algorithms. http://my.fit.edu/~gfrederi/ComplexNetworks/09-Epidemic-Algorithms.pdf
- 15.Desai, J.P., Ostrowski, J., Kumar, V.: Controlling formations of multiple mobile robots. In: Proceedings of the 1998 IEEE International Conference on Robotics and Automation (Cat. No. 98CH36146), vol. 4 (1998)Google Scholar
- 16.Mesbahi, M., Hadaegh, F.Y.: Formation flying control of multiple spacecraft via graphs, matrixinequalities, and switching. In: Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No. 99CH36328), vol. 2 (1999)Google Scholar
- 17.Wang, P.K.C., Hadaegh, F.Y.: Coordination and control of multiple microspacecraft moving in formation. J. Astronaut. Sci. 44, 315–355 (1996)Google Scholar
- 20.Ivanov, D., Kalyaev, I., Kapustyan, S.: Method of circles for solving formation task in a group of quadrotor UAVs. In: 2014 2nd International Conference on Systems and Informatics (ICSAI), pp. 236–240 (2014)Google Scholar
- 21.Ivanov, D., Kalyaev, I., Kapustyan, S.: Formation task in a group of quadrotors. In: Robot Intelligence Technology and Applications, vol. 3. pp. 183–191. Springer (2015)Google Scholar
- 22.Ivanov, D., Kapustyan, S., Kalyaev, I.: Method of spheres for solving 3D formation task in a group of quadrotors. In: International Conference on Interactive Collaborative Robotics, ICR 2016. Lecture Notes in Computer Science, Budapest, Hungary, 24–26 August 2016, vol. 9812 (2016)Google Scholar