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Title: Intelligent controllers for multirobot competitive and dynamic tracking
Authors: Liu, M
Li, S 
Li, XD
Jin, L
Yi, CF
Huang, ZG
Issue Date: 2018
Publisher: Hindawi
Source: Complexity, 2018, 4573631, p. 1-12 How to cite?
Journal: Complexity 
Abstract: This paper focuses on the problem of target tracking using k fittest robots in a group of n mobile robots with n > k. We present centralized and distributed coordination models with all-to-all and limited communications, respectively. For the case of all-to-all communication between robots, theoretical analysis is presented to prove the exponential stability of the whole system. In real applications of robotic networks, a robot may only be allowed to exchange information with a limited number of neighbors. In such a limited communication case where centralized quantity is not available, a consensus filter is used to estimate the centralized quantities in a distributed way, and a distributed competitive target tracking is thus achieved. The stability of the distributed control is also proved in theory. Finally, illustrative examples are provided and analyzed to substantiate the efficacy of the proposed models for tracking moving target in a competition manner with all-to-all communications and limited communications.
ISSN: 1076-2787
EISSN: 1099-0526
DOI: 10.1155/2018/4573631
Rights: Copyright © 2018 Mei Liu et al. This is an open access article distributed under the Creative Commons Attribution License (, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
The following publication Liu, M., Li, S., Li, X.D., Jin, L., Yi, C.F., & Huang, Z.G. (2018). Intelligent controllers for multirobot competitive and dynamic tracking. Complexity, 4573631, 1-12 is available at
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