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The implementation of consensus algorithm on a group of humanoid robots with varying network topologies
Sadiyoko A.a, Septanto H.b, Sudjana O.c, Bambang Riyanto T.d
a Industrial Engineering Department, Universitas Katolik Parahyangan, Indonesia
b Center for Spacecraft Technology, National Institute of Aeronautics and Space, Indonesia
c Electronics Engineering, Institut Teknologi Harapan Bangsa, Indonesia
d School of Electrical Engineering and Informatics, Institut Teknologi Bandung, Indonesia
[vc_row][vc_column][vc_row_inner][vc_column_inner][vc_separator css=”.vc_custom_1624529070653{padding-top: 30px !important;padding-bottom: 30px !important;}”][/vc_column_inner][/vc_row_inner][vc_row_inner layout=”boxed”][vc_column_inner width=”3/4″ css=”.vc_custom_1624695412187{border-right-width: 1px !important;border-right-color: #dddddd !important;border-right-style: solid !important;border-radius: 1px !important;}”][vc_empty_space][megatron_heading title=”Abstract” size=”size-sm” text_align=”text-left”][vc_column_text]© 2014, International Journal on Electrical Engineering and Informatics. All rights reserved.The purpose of this paper is to present experiment results on the implementation of consensus algorithm on a group of humanoid robots. The experiment in this work is based on some previous works on distributed control of robotic networks and distributed consensus in multi-vehicle cooperative control. According to Ren, a consensus may occur if communication topology between the robots forms a spanning tree. The existence of some shared informations is a necessary condition for this algorithm. Further, a consensus may occur if the topology of communication among the robots forms a spanning tree. However, to apply the algorithm on a group of humanoid robots we need some modification on the original algorithm. A new algorithm is proposed by adding a new damping variable (β) on original algorithm to make a group of humanoid robots move synchronously. The experiment of the new consensus algorithm is tested on two topologies, which are leader-follower and leaderless topology. This research concludes that consensus in a group of humanoid robot can be achieved by inducing damping variable in original equation.[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Author keywords” size=”size-sm” text_align=”text-left”][vc_column_text][/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Indexed keywords” size=”size-sm” text_align=”text-left”][vc_column_text]Communication network topology,Consensus algorithm,Experimental platform,Humanoid robots[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Funding details” size=”size-sm” text_align=”text-left”][vc_column_text][/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”DOI” size=”size-sm” text_align=”text-left”][vc_column_text]https://doi.org/10.15676/ijeei.2014.6.4.8[/vc_column_text][/vc_column_inner][vc_column_inner width=”1/4″][vc_column_text]Widget Plumx[/vc_column_text][/vc_column_inner][/vc_row_inner][/vc_column][/vc_row][vc_row][vc_column][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][/vc_column][/vc_row]