On distributed k-WTA algorithm for competitive behaviors of multi-robots
[Objective]To solve the problem of task allocation in the agent network with limited communication,a general distributed k-winners-take-all(k-WTA)algorithm was proposed on the basis of quadratic programming,for which no center command was needed to identify the k winners.[Method]First,a new distributed k-WTA model was constructed based on the existing centralized model by combining the high-pass consistency filter;second,using Lasalle's invariance principle,it was calculated that the model was equivalent to the existing centralized model in the invariant set,and the global asymptotic convergence to the solution of k-WTA problem was proved theoretically;finally,simulation experiments were carried out to verify its effectiveness.[Result]The model has the advantages of global asymptotic convergence and intelligence.In addition,two numerical examples of static input and dynamic input demonstrate the effectiveness of the model in searching winners in distributed networks.[Conclusion]The k-WTA model proposed in this study can effectively solve the competition problem in the agent network with limited communication,which can provide a reference for engineering application of distributed task allocation for multi-robots.
k-winner-take-allcompetitive manneroptimizationconvergencemulti-agent system
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维普
