Paper Info
Title
A Networked Multirobot CPS With Artificial Immune Fuzzy Optimization for Distributed Formation Control of Embedded Mobile Robots
Abstract
This article presents a networked multirobot cyber-physical system (CPS) that employs artificial immune fuzzy optimization to achieve distributed formation control of embedded mobile robots. The artificial immune system (AIS) algorithm is combined with a fuzzy system to develop a hybrid optimization technique, called AIS-fuzzy. This metaheuristic is applied to designing the intelligent third cyber and fourth cognition levels in the networked multirobot CPS 5C structure of embedded robots to accomplish distributed formation control. The proposed CPS cyber and cognition levels with AIS-fuzzy paradigm incorporate with the first, second, and fifth levels by means of robotic sensors and actuators. System-on-a-programmable-chip (SoPC) methodology is adopted to present a pragmatic networked multirobot CPS in the field-programmable gate array chips. The presented SoPC-based AIS-fuzzy multirobot CPS features the seamless integration of computation, networking, and physical robotic processes. Experimental results are obtained, and comparative analyses are provided to illustrate the effectiveness and merits of the proposed multirobot CPS to perform distributed formation control of embedded mobile robots.
Year
DOI
Venue
2020
10.1109/TII.2019.2936045
IEEE Transactions on Industrial Informatics
Keywords
Field
DocType
Cyber-physical system (CPS),formation control,immune fuzzy,metaheuristic,multiple robots
Computer science,Fuzzy logic,Control engineering,Mobile robot
Journal
Volume
Issue
ISSN
16
1
1551-3203
Citations 
PageRank 
References 
1
0.35
0
Authors
4
Name
Order
Citations
PageRank
Sendren Sheng-Dong Xu1345.99
Hsu-Chih Huang222918.43
Yu-Chieh Kung310.35
Yung-Yu Chu410.35