Intelligent Controllers for Multirobot Competitive and Dynamic Tracking

Figure 4

(Phase 1) With , snapshots for centralized model (12) with all-to-all communications for moving target tracking and the corresponding tracking trajectories, where initial locations of mobile robots and the moving target are randomly generated. In this sense, ten mobile robots compete with each other for tracking the moving target, and only two of them with the minimum distance from the moving target (the winners) are activated to track while the rest ones (the losers) keep unmoved. (a) Snapshots at s. (b) Snapshots at s. (c) Snapshots at s. (d) Actual path of the moving target and tracking trajectories of different mobile robots.

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