TY - GEN
T1 - Cooperative Multi-agent on Head Yaw of Humanoid Robot Using Consensus
AU - Nugroho, Arif
AU - Yuniarno, Eko M.
AU - Purnomo, Mauridhi H.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - This paper presents the comparison between 2-proposed graph topologies. In this concern, each proposed graph topology consists of 3-nodes that represent a number of humanoid robots and 3-edges representing information exchange among robots. Two proposed graph topologies have been implemented on head yaw of humanoid robots. From the experimental results, two proposed graph topologies have been successfully applied to reach consensus. But, each proposed graph topology has different characteristic. The cyclic graph topology is similar to unsupervised learning characteristic because this topology cannot ensure where the consensus value will be achieved. Meanwhile, non-cyclic graph topology has the same characteristic as supervised learning where consensus value can be reached based on the predefined target value.
AB - This paper presents the comparison between 2-proposed graph topologies. In this concern, each proposed graph topology consists of 3-nodes that represent a number of humanoid robots and 3-edges representing information exchange among robots. Two proposed graph topologies have been implemented on head yaw of humanoid robots. From the experimental results, two proposed graph topologies have been successfully applied to reach consensus. But, each proposed graph topology has different characteristic. The cyclic graph topology is similar to unsupervised learning characteristic because this topology cannot ensure where the consensus value will be achieved. Meanwhile, non-cyclic graph topology has the same characteristic as supervised learning where consensus value can be reached based on the predefined target value.
KW - Consensus
KW - cyclic graph topology
KW - headyaw
KW - non-cyclic graph topology
KW - supervised learning
KW - unsupervised learning
UR - http://www.scopus.com/inward/record.url?scp=85066505350&partnerID=8YFLogxK
U2 - 10.1109/CENIM.2018.8710940
DO - 10.1109/CENIM.2018.8710940
M3 - Conference contribution
AN - SCOPUS:85066505350
T3 - 2018 International Conference on Computer Engineering, Network and Intelligent Multimedia, CENIM 2018 - Proceeding
SP - 240
EP - 244
BT - 2018 International Conference on Computer Engineering, Network and Intelligent Multimedia, CENIM 2018 - Proceeding
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 International Conference on Computer Engineering, Network and Intelligent Multimedia, CENIM 2018
Y2 - 26 November 2018 through 27 November 2018
ER -