Title: Trajectory tracking of a multi-robot system based on optimisation approach

Authors: Amol G. Patil; Gautam A. Shah

Addresses: Department of Electronics and Telecommunication, St. Francis Institute of Technology, P.B. No. 8456, Mount Poinsur, S.V. P. Road, Borivali (West), Mumbai-400103, Maharashtra, India ' Department of Electronics and Telecommunication, St. Francis Institute of Technology, P.B. No. 8456, Mount Poinsur, S.V. P. Road, Borivali (West), Mumbai-400103, Maharashtra, India

Abstract: The primary goal of this work is to develop a multi-robot trajectory tracking system based on an actor-critic network with hybrid optimisation. Initially, a connectivity graph is constructed in a distributed manner. Then, multiple groups are formed using the proposed Particle Swarm Energy Valley Optimisation (PSEVO) which combines Energy Valley Optimisation (EVO) and Particle Swarm Optimisation (PSO). To define the objective function, parameters such as distance and cost are utilised. The trajectory tracking is then performed using the Hierarchical Rendezvous algorithm. Finally, using the actor-critic network, leader robots are selected. The PSEVO model is assessed using convergence, distance and fitness metrics, achieving values of 1.017, 15.07 m and 0.140. The performance gain achieved by the proposed method for distance is 40.99%, 51.18%, 45.18%, 52.83%, 41.57%, 60.47% and 52.26% greater than the Hierarchical Rendezvous, actor-critic network, Switching Topology, PSO-actor-critic network, Leaderfollower + algebraic graph, EVO-actor-critic network and GCF methods.

Keywords: consensus tracking algorithm; actor-critic network; EVO; energy valley optimisation; multi-robot systems; PSO; particle swarm optimisation.

DOI: 10.1504/IJWMC.2026.151589

International Journal of Wireless and Mobile Computing, 2026 Vol.30 No.2, pp.191 - 206

Received: 19 Mar 2024
Accepted: 25 May 2024
Published online: 09 Feb 2026 *

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