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This paper presents a novel auction-based structure to multi-robot coalition formation problem. The structure, which is called multi-robot Coalition Structure Generation based on Credit Mechanism (CoSGCrM), contains a sub-optimal coalition member selection algorithm with an analysis of its soundness and completeness. A credit mechanism is introduced to reduce the complexity for the coalition leader...
This paper deals with the problem of odor source localization by designing and analyzing a finite-time motion control strategy (FTMCS), which consists of a finite-time parallel motion control algorithm and a finite-time circular motion control algorithm. Specifically, a motion control architecture is first given and includes two important modules: 1) a coordinating control module; and 2) a tracking...
In this paper, we investigate the formation control of multiple mobile robots in an unknown environment with obstacles. A hybrid approach based on leader-follower scheme is proposed for formation control. The approach, using the relative position bias between virtual formation targets and follower robots, includes the active behavior-based control strategy and the virtual target structure. Furthermore,...
This paper presents a decoupled path planning based on ant colony algorithm and distributed navigation with collision avoidance for multi-robot systems. An improved ant colony algorithm is proposed to plan a reasonable collision-free path for each mobile robot of multi-robot system in the decoupled path planning scheme in complicated static environment. The special functions are added into the regular...
A hybrid navigation approach for mobile robots is presented in this paper, which integrates partial motion planning with emotion-based behavior coordination. According to the local sensing information and assigned goal, the partial motion planning determines a local target point for the mobile robot, and the trajectory composed of the local targets is near optimal in the sense of a given cost function...
In many social insect societies, the repeated action of the insects interacts over time with the changing physical environment to produce a collective intelligence and accomplish task cooperatively. The major mediating factor in this phenomenon is stigmergy, the individual's behavior is induced by sensing the local environmental changes produced by previous behaviors. Inspired by this biological phenomenon,...
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