A Distributed Competitive and Collaborative Coordination for Multirobot Systems

Enlightened by competitive and collaborative coordination behaviors widely observed in natural swarm systems, this work emphasizes these coordinating modes in multirobot systems and optimizes system stability along with resource utilization. Then, schemes are constructed to describe and model these two modes, where a $k$ -winner-take-all concept is introduced as the driving principle of multirobot competition. In addition, a distributed coordination approach is established to effectively handle the above schemes aided with optimality theory, which is developed by a fusion of a recurrent neural dynamics solver and a distributed solver. The former is a single-layer neural dynamics model with a simple structure,…

• NN
  National Natural Science Foundation of China

  Awards: 62176109, CCF-BAIDU 202306, 62306130
• FR
  Fundamental Research Funds for the Central Universities

  Award: lzujbky-2023-ey07