Fuzzy k -Winner-Take-All Network for Competitive Coordination in Multirobot Systems
Long Mei Jin, Yutong Li, Xiaoyan Zhang, Xin Luo · IEEE Transactions on Fuzzy Systems · 2023
This study focuses on exploring the solution to coordination in multirobot systems faced with competitive states, where the competition behavior can be described as a$k$-winner-take-all ($k$WTA) operation. To address the$k$WTA problem, a fuzzy$k$WTA (F-$k$WTA) network is proposed, which incorporates a fuzzy mechanism into the network that adapts the convergence rate of the F-$k$WTA network based on the error, leading to exceptional convergence behavior. In addition, a set of activation functions are provided to further enhance the capabilities of the F-$k$WTA network. In addition, the proposed network demonstrates remarkable convergence performance, as illustrated through both theorems and simulations. Finally, the practical application value of the F-$k$WTA network is demonstrated on a multirobot system.