Abstract
When multiple robots cooperate to carry out some tasks, the movement synchronization of the formation is essential. However, due to the uncertainty of the complicated environment, it is inevitable that certain robot fails. Therefore, it’s worth to figure out some ways to minimize the damage caused by failed robot. In this paper, a distributed self-healing algorithm for multi-robot network global optimal movement synchronization is presented. The proposed algorithm can transform any robot’s failure into the failure of the robot which has the least degree so that can minimize the influence on movement synchronization. In addition, gradient is involved in the algorithm to make repairing path shortest under the condition of maintaining global optimal movement synchronization. In the whole process of the self-healing, all robots only communicate with their own neighbors, so the robots are distributed controlled. Finally, the effectiveness of the proposed algorithm is validated by simulation experiments.
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Acknowledgements
This work is partially supported by the China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER) under Grant 2012GB102001, the Natural Science Foundation of China under Grants 61175088, 61221003 and 61573243.
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Fu, X., Chen, W., Liu, Z., Wang, J., Wang, H. (2017). A Distributed Self-healing Algorithm for Global Optimal Movement Synchronization of Multi-robot Formation Network. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_43
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DOI: https://doi.org/10.1007/978-3-319-48036-7_43
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