Distributed and Competitive Coordination of Multi-Robot Based on GD-kWTA Network under Noise-Free Condition
Yuzhe Wang, Yuheng Qian, Wentao Yue, Jie Zeng, Chaoyuan Hao · 2024
On the basis of the gradient-based differential k-winners-take-all (GD-kWTA) network, this paper focuses on its applications on multi-robot competition and coordination under noise-free condition. The GD-kWTA network offers improved handling of temporal lag in control variables under noise-free condition. At the same time, theorems and relevant validations are presented to ensure the exponential convergence and antinoise elasticity of the proposed GD-kWTA network. Finally, the GD-kWTA network is integrated with a consensus filter as a robust control strategy for the simulation of the coordinated competitive behavior of various robots. Even under noise-free condition and when handling complex target trajectory curves, the GD-kWTA network successfully achieves satisfactory results, which underscores its effectiveness in tackling the issue of temporal lag.