Multi-Robot Distributed Coordination in IOT Systems: An ACP Framework

This paper investigates the distributed coordination problem of multiple robots in the Internet of Things (IoT) system based on the ACP framework. Considering that the robots in the IoT system may perform some tasks such as handling, cutting, profiling, etc., which require the posture of the end-effectors to maintain unchanged, targeted rules and constraints are designed to regulate the behavior of robots. Furthermore, a neurodynamic controller is utilized to construct the artificial societies describing the behavior of a multi-robot distributed system. Corresponding computational experiments select strategies that are beneficial to task execution for the multi-robot system. Finally, the multi-robot system is promoted to complete the assigned tasks cooperatively by means of parallel execution.