Adaptive Hierarchical Distributed Control with Cooperative Task Allocation for Robot Swarms
- Resource Type
- Conference
- Authors
- Hung, Pham Duy; La, Hung Manh; Ngo, Trung Dung
- Source
- 2020 IEEE/SICE International Symposium on System Integration (SII) System Integration (SII), 2020 IEEE/SICE International Symposium on. :1300-1305 Jan, 2020
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
General Topics for Engineers
Photonics and Electrooptics
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Target tracking
Topology
Robot sensing systems
Network topology
Decentralized control
Robot kinematics
- Language
- ISSN
- 2474-2325
We present an adaptive hierarchical distributed control strategy (AHDC) enabling a small swarm of mobile robots to explore and track very large target clouds. The hierarchical distributed control architecture (HDC) is designed to govern not only robot behaviours but also their neighbourhood connectivities for global network integrity preservation. A mobile robot equipped with the HDC is capable of adaptively pruning neighbourhood connectivities so the robot can deal with complexity and constraints of local connectivity topologies. A cooperative target observation, tracking, and release (COTR) algorithm is incorporated into the HDC to allow a robot to track more than one target in large target clouds. We have demonstrated and evaluated effectiveness of the AHDC through both simulation and real-world experiments.