Robustness Analysis on Dual Neural Network-based $k$ WTA With Input Noise

Distributed Dynamic Task Allocation for Moving Target Tracking of Networked Mobile Robots Using k-WTA Network

Tasks allocation plays a pivotal role in cooperative robotics. This study proposes a novel fully distributed task allocation method for target tracking, by which mobile robots only need to share state information with communication neighbors. The proposed method adopts a distributed k winners-take-all (k-WTA) network to select the k mobile robots closest to the moving target to perform the target tracking task. In addition, an innovative robot control law is designed, incorporating speed feedback and nonlinear activation functions to achieve finite-time error convergence. Unlike previous approaches, our distributed task allocation method yields finite-time error convergence, does not rely on consensus filters, and eliminates the need for a central computing unit to get the k-WTA result during the control process. We demonstrate the effectiveness of the proposed method through theoretical analysis and simulations. Compared to traditional methods, our method leads to smaller total moving distances and speed norms, which underscores the significance of our method in enhancing the efficiency and performance of mobile robots in dynamic task allocation.

Effect of Time-Varying Multiplicative Noise on DNN-kWTA Model

Among many -winners-take-all ( WTA) models, the dual-neural network (DNN- WTA) model is with significantly less number of connections. However, for analog realization, noise is inevitable and affects the operational correctness of the WTA process. Most existing results focus on the effect of additive noise. This brief studies the effect of time-varying multiplicative input noise. Two scenarios are considered. The first one is the bounded noise case, in which only the noise range is known. Another one is for the general noise distribution case, in which we either know the noise distribution or have noise samples. For each scenario, we first prove the convergence property of the DNN- WTA model under multiplicative input noise and then provide an efficient method to determine whether a noise-affected DNN- WTA network performs the correct WTA process for a given set of inputs. With the two methods, we can efficiently measure the probability of the network performing the correct WTA process. In addition, for the case of the inputs being uniformly distributed, we derive two closed-form expressions, one for each scenario, for estimating the probability of the model having correct operation. Finally, we conduct simulations to verify our theoretical results.

Influence of Imperfections on the Operational Correctness of DNN-kWTA Model

The dual neural network (DNN)-based k -winner-take-all (WTA) model is able to identify the k largest numbers from its m input numbers. When there are imperfections, such as non-ideal step function and Gaussian input noise, in the realization, the model may not output the correct result. This brief analyzes the influence of the imperfections on the operational correctness of the model. Due to the imperfections, it is not efficient to use the original DNN- k WTA dynamics for analyzing the influence. In this regard, this brief first derives an equivalent model to describe the dynamics of the model under the imperfections. From the equivalent model, we derive a sufficient condition for which the model outputs the correct result. Thus, we apply the sufficient condition to design an efficiently estimation method for the probability of the model outputting the correct result. Furthermore, for the inputs with uniform distribution, a closed form expression for the probability value is derived. Finally, we extend our analysis for handling non-Gaussian input noise. Simulation results are provided to validate our theoretical results.

Robust k-WTA Network Generation, Analysis, and Applications to Multiagent Coordination

In this article, a robust k -winner-take-all ( k -WTA) neural network employing the saturation-allowed activation functions is designed and investigated to perform a k -WTA operation, and is shown to possess enhanced robustness to disturbance compared to existing k -WTA neural networks. Global convergence and robustness of the proposed k -WTA neural network are demonstrated through analysis and simulations. An application studied in detail is competitive multiagent coordination and dynamic task allocation, in which k active agents [among ] are allocated to execute a tracking task with the static m-k ones. This is implemented by adopting a distributed k -WTA network with limited communication, aided with a consensus filter. Simulation results demonstrating the system's efficacy and feasibility are presented.

DNN-kWTA With Bounded Random Offset Voltage Drifts in Threshold Logic Units

The dual neural network-based k -winner-take-all (DNN- k WTA) is an analog neural model that is used to identify the k largest numbers from n inputs. Since threshold logic units (TLUs) are key elements in the model, offset voltage drifts in TLUs may affect the operational correctness of a DNN- k WTA network. Previous studies assume that drifts in TLUs follow some particular distributions. This brief considers that only the drift range, given by [-∆, ∆] , is available. We consider two drift cases: time-invariant and time-varying. For the time-invariant case, we show that the state of a DNN- k WTA network converges. The sufficient condition to make a network with the correct operation is given. Furthermore, for uniformly distributed inputs, we prove that the probability that a DNN- k WTA network operates properly is greater than (1-2∆)ⁿ . The aforementioned results are generalized for the time-varying case. In addition, for the time-invariant case, we derive a method to compute the exact convergence time for a given data set. For uniformly distributed inputs, we further derive the mean and variance of the convergence time. The convergence time results give us an idea about the operational speed of the DNN- k WTA model. Finally, simulation experiments have been conducted to validate those theoretical results.

Distributed and Time-Delayed k-Winner-Take-All Network for Competitive Coordination of Multiple Robots

In this article, a distributed and time-delayed k-winner-take-all (DT-kWTA) network is established and analyzed for competitively coordinated task assignment of a multirobot system. It is considered and designed from the following three aspects. First, a network is built based on a k-winner-take-all (kWTA) competitive algorithm that selects k maximum values from the inputs. Second, a distributed control strategy is used to improve the network in terms of communication load and computational burden. Third, the time-delayed problem prevalent in arbitrary causal systems (especially, in networks) is taken into account in the proposed network. This work combines distributed kWTA competition network with time delay for the first time, thus enabling it to better handle realistic applications than previous work. In addition, it theoretically derives the maximum delay allowed by the network and proves the convergence and robustness of the network. The results are applied to a multirobot system to conduct its robots' competitive coordination to complete the given task.

Robust Stability of Recurrent Neural Networks With Time-Varying Delays and Input Perturbation

This paper addresses the robust stability of recurrent neural networks (RNNs) with time-varying delays and input perturbation, where the time-varying delays include discrete and distributed delays. By employing the new ψ -type integral inequality, several sufficient conditions are derived for the robust stability of RNNs with discrete and distributed delays. Meanwhile, the robust boundedness of neural networks is explored by the bounded input perturbation and L¹ -norm constraint. Moreover, RNNs have a strong anti-jamming ability to input perturbation, and the robustness of RNNs is suitable for associative memory. Specifically, when input perturbation belongs to the specified and well-characterized space, the results cover both monostability and multistability as special cases. It is revealed that there is a relationship between the stability of neural networks and input perturbation. Compared with the existing results, these conditions proposed in this paper improve and extend the existing stability in some literature. Finally, the numerical examples are given to substantiate the effectiveness of the theoretical results.

Design of a K-Winners-Take-All Model With a Binary Spike Train

A continuous-time K -winners-take-all (KWTA) neural model that can identify the largest K of N inputs, where command signal is described. The model is given by a differential equation where the spike train is a sum of delta functions. A functional block-diagram of the model includes N feed-forward hard-limiting neurons and one feedback neuron, used to handle input dynamics. The existence and uniqueness of the model steady states are analyzed, the convergence analysis of the state variable trajectories to the KWTA operation is proven, the convergence time and number of spikes required are derived, as well as the processing of time-varying inputs and perturbations of the model nonlinearities are analyzed. The main advantage of the model is that it is not subject to the intrinsic convergence of speed limitations of comparable designs. The model also has an arbitrary finite resolution determined by a given parameter, low complexity, and initial condition independence. Applications of the model for parallel sorting and parallel rank-order filtering are presented. Theoretical results are derived and illustrated with computer-simulated examples that demonstrate the model's performance.