Winners-Take-All
When the robot network with limited capability can carry out merely a single task, it then entails a distributed decision-making tactic for identifying the most critical task [7]. I thus formulated a winners-take-all authority dispatch algorithm through quadratic programming [8]. Searching the unique minimizer of the optimization problem by a projected primal-dual method hence derives a distributed decision algorithm. Further, I created a power-preserving interconnection between the algorithm and the robot network for passive teleoperation. With multiple storage functions, I also illustrated the theoretical soundness of the design from a switched system perspective. |
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Proportional-Prize
Given a robot network, how to partition it into several groups for accomplishing multiple tasks is a core problem in multi-robot task assignment. I designed a cluster teleoperation problem in which the size of each group is proportional to the priority of its designated task. Despite the semblance to multi-robot task allocation, my cluster teleoperation problem possesses an exclusive challenge: the tasks arise by physical interactions locally. If the robots allotted to a task cannot be reachable from their user, teleoperation of the robot team becomes unattainable. In [9], I incorporated a reachability detector into the integer programming scheme and derived a distributed algorithm to preclude the pathological assignment. |
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[7] Y. Yang, D. Constantinescu and Y. Shi, “Distributed winner-take-all teleoperation of a multi-robot system,” in 2020 IEEE International Conference on Robotics and Automation (ICRA), 31 May–31 August, Paris, France, pp. 9171-9177.
[8] Y. Yang, D. Constantinescu and Y. Shi, “Distributed multi-robot teleoperation with winners-take-all authority dispatch,” submitted to IEEE Transactions on Control Systems Technology.
[9] Y. Yang, D. Constantinescu and Y. Shi, “Proportional and reachable cluster teleoperation of a distributed multi-robot system,” in 2021 IEEE International Conference on Robotics and Automation (ICRA), 30 May-5 June, Xi'an, China.
[8] Y. Yang, D. Constantinescu and Y. Shi, “Distributed multi-robot teleoperation with winners-take-all authority dispatch,” submitted to IEEE Transactions on Control Systems Technology.
[9] Y. Yang, D. Constantinescu and Y. Shi, “Proportional and reachable cluster teleoperation of a distributed multi-robot system,” in 2021 IEEE International Conference on Robotics and Automation (ICRA), 30 May-5 June, Xi'an, China.