TY - JOUR
T1 - An Affection-Based Dynamic Leader Selection Model for Formation Control in Multirobot Systems
AU - Li, Feng
AU - Ding, Yongsheng
AU - Zhou, Mengchu
AU - Hao, Kuangrong
AU - Chen, Lei
N1 - Funding Information:
This work was supported in part by the Key Project of the National Natural Science Foundation of China under Grant 61134009, in part by the National Natural Science Foundation of China under Grant 61473077, Grant 61473078, and Grant 61503075, in part by the Cooperative Research Funds of the National Natural Science Funds Overseas and Hong Kong and Macao Scholars under Grant 61428302, in part by the Program for Changjiang Scholars from the Ministry of Education, in part by the Specialized Research Fund for Shanghai Leading Talents, in part by the Project of the Shanghai Committee of Science and Technology under Grant 13JC1407500, in part by the Innovation Program of Shanghai Municipal Education Commission under Grant 14ZZ067, and in part by the Shanghai Pujiang Program under Grant 15PJ1400100.
PY - 2017/7
Y1 - 2017/7
N2 - In this paper, a dynamic leader selection process of a multirobot system with leader-follower strategies is studied in terms of formation control. A fuzzy inference system is employed to evaluate the status of robots by means of their states. Based on the status, an affection-based model is proposed to trigger a leader selection module. Followers send out unsatisfied signals when they are disappointed at the current leader. The abashment value of the leader changes with its own status as well as the number of unsatisfied signals received from its followers. When its abashment value goes beyond a given threshold, a leader reselection process is triggered. Moreover, a swap-greedy algorithm is proposed to approximate the optimal solution for confirming the leader-follower relationship, which can be described as a combinatorial optimization problem to minimize the total travel distance of all the robots. Extensive simulation results demonstrate that the proposed model can improve the probability of a robot team escaping from local extreme points significantly, and even in the case of leader failure, the team can reselect a leader autonomously and keep moving toward the target.
AB - In this paper, a dynamic leader selection process of a multirobot system with leader-follower strategies is studied in terms of formation control. A fuzzy inference system is employed to evaluate the status of robots by means of their states. Based on the status, an affection-based model is proposed to trigger a leader selection module. Followers send out unsatisfied signals when they are disappointed at the current leader. The abashment value of the leader changes with its own status as well as the number of unsatisfied signals received from its followers. When its abashment value goes beyond a given threshold, a leader reselection process is triggered. Moreover, a swap-greedy algorithm is proposed to approximate the optimal solution for confirming the leader-follower relationship, which can be described as a combinatorial optimization problem to minimize the total travel distance of all the robots. Extensive simulation results demonstrate that the proposed model can improve the probability of a robot team escaping from local extreme points significantly, and even in the case of leader failure, the team can reselect a leader autonomously and keep moving toward the target.
KW - Affection model
KW - formation control
KW - leader selection
KW - multirobot system (MRS)
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U2 - 10.1109/TSMC.2016.2564931
DO - 10.1109/TSMC.2016.2564931
M3 - Article
AN - SCOPUS:85021650783
SN - 2168-2216
VL - 47
SP - 1217
EP - 1228
JO - IEEE Transactions on Systems, Man, and Cybernetics: Systems
JF - IEEE Transactions on Systems, Man, and Cybernetics: Systems
IS - 7
M1 - 7534738
ER -