Decentralized Consensus in Robotic Swarm for Collective Collision and Avoidance
Yang FengYing,
Ahmad Din,
Liu HuiChao
et al.
Abstract:In this paper, a decentralized consensus algorithm for a robotic swarm is presented, which enable agents to escape collisions and avoid obstacles collectively. To achieve consensus, we have used neighboring clusters and extreme function for data dissemination and consensus in agents to avoid obstacles respectively. The main challenge is to make fast and accurate collective decision by improving data propagation in presence of Byzantine agents. To improve data dissemination in local interactions of agents in de… Show more
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