Jin Long, Liang Siqi, Luo Xin, Zhou MengChu
IEEE Trans Cybern. 2022 May 9;PP. doi: 10.1109/TCYB.2022.3159367.
In this article, a distributed and time-delayed k-winner-take-all (DT-kWTA) network is established and analyzed for competitively coordinated task assignment of a multirobot system. It is considered and designed from the following three aspects. First, a network is built based on a k-winner-take-all (kWTA) competitive algorithm that selects k maximum values from the inputs. Second, a distributed control strategy is used to improve the network in terms of communication load and computational burden. Third, the time-delayed problem prevalent in arbitrary causal systems (especially, in networks) is taken into account in the proposed network. This work combines distributed kWTA competition network with time delay for the first time, thus enabling it to better handle realistic applications than previous work. In addition, it theoretically derives the maximum delay allowed by the network and proves the convergence and robustness of the network. The results are applied to a multirobot system to conduct its robots' competitive coordination to complete the given task.
在本文中，为了对多机器人系统的竞争协调任务分配进行研究，建立并分析了一种分布式时滞k胜者全得（DT-kWTA）网络。该网络从以下三个方面进行考虑和设计。第一，基于k胜者全得（kWTA）竞争算法构建网络，该算法从输入中选择k个最大值。第二，采用分布式控制策略，以减轻网络的通信负载和计算负担。第三，在所提出的网络中考虑了任意因果系统（特别是网络）中普遍存在的时滞问题。这项工作首次将分布式kWTA竞争网络与时间延迟相结合，从而使其比以往的工作能够更好地处理实际应用。此外，从理论上推导了网络允许的最大延迟，并证明了网络的收敛性和鲁棒性。将研究结果应用于多机器人系统，以实现其机器人之间的竞争协调，从而完成给定任务。
