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Bidding coordination algorithm with CFC and an emotion switch

Published online by Cambridge University Press:  12 February 2018

Zhifeng Yao Open the ORCID record for Zhifeng Yao [Opens in a new window] ,
Xiufen Ye  and
Xuefeng Dai
Zhifeng Yao
Affiliation:
College of Automation, Harbin Engineering University, Harbin 150001, Heilongjiang, China. E-mail: yzf0213@163.com College of Computer and Control Engineering, Qiqihar University, Qiqihar 161006, Heilongjiang, China. E-mail: daixuefeng203@163.com
Xiufen Ye*
Affiliation:
College of Automation, Harbin Engineering University, Harbin 150001, Heilongjiang, China. E-mail: yzf0213@163.com
Xuefeng Dai
Affiliation:
College of Computer and Control Engineering, Qiqihar University, Qiqihar 161006, Heilongjiang, China. E-mail: daixuefeng203@163.com
*
*Corresponding author. E-mail: yexiufen@hrbeu.edu.cn
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Summary

Exploration is a fundamental problem in robotics, and multi-robot systems exploration has been extensively studied in this field. In order to overcome the problem of a non-optimal target being selected in the exploration process, a revised single linkage clustering frontier cell (CFC) algorithm is proposed to calculate the exploration benefit of all available frontier cells. Moreover, there exist unexplored islands for most of the bidding-based multi-robot coordination algorithms in the exploration of unknown environments. To deal with this problem, some rules switched by emotion states are proposed. So, the proposed bidding coordination algorithm with CFC and an emotion switch has a hierarchical architecture. The upper level is modeled as an automaton, which is used to represent emotion status, and the emotion variables decide whether a robot will participate in a bid and explore an unknown area abiding by the walking rules. In the lower level, the robots perform bidding activities with CFC and the walking rules according to the emotion variables. We tested and evaluated our approach by means of experiments both in a simulated environment and with real robots. The experiments results demonstrate that the exploration efficiency is improved, and our algorithm has a greater coverage rate than classic bidding-based coordination algorithms.

Keywords

Multi-robot systemsExplorationCoordinationBiddingEmotionCluster
Type
Articles
Information
Robotica , Volume 36 , Issue 4 , April 2018 , pp. 607 - 623
Copyright
Copyright © Cambridge University Press 2018 

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