Broadcast control of multi-robot systems with norm-limited update vector

Mohamad Hafizulazwan, Mohamad Nor and Zool Hilmi, Ismail and Mohd Ashraf, Ahmad (2020) Broadcast control of multi-robot systems with norm-limited update vector. International Journal of Advanced Robotic Systems, 17 (4). pp. 1-12. ISSN 1729-8814. (Published)

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This article addresses a problem in standard broadcast control framework which leads to an unstable solution in a certain motion-coordination task. First, the unstable phenomenon in a certain motion-coordination task is illustrated using standard broadcast control framework. This issue calls for modification to the standard broadcast control framework by limiting the norm of the update vector of robots’ positions into a constant value. Then, we demonstrate that the modified broadcast controller achieves the convergence with the probability of 1. Finally, we illustrate in numerical simulations that the modified broadcast controller can effectively solve the instability issue and also may improve the convergence time as compared to the standard broadcast controller.

Item Type: Article
Additional Information: Indexed by WOS
Uncontrolled Keywords: Multi-robot systems; Broadcast control; Instability; Simultaneous perturbation stochastic approximation (SPSA); Norm-limited update vector
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical and Electronic Engineering Technology
Depositing User: Mrs Norsaini Abdul Samat
Date Deposited: 30 Jun 2021 14:24
Last Modified: 30 Jun 2021 14:24
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