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To address the problem of location deployment, a grid-based method was used to simplify environmental input information, and a self-clustering method was used to adjust location deployment. To address the problem of navigation, a behavior manager was used as a navigation strategy to control the towards-goal behavior and wall-following behavior (WFB) of mobile robots. An interval type-2 fuzzy controller based on improved particle swarm optimization (IPSO) was proposed to implement the WFB control. The proposed IPSO improved the search ability and enhanced the convergence speed of traditional PSO. Additionally, an escape mechanism was proposed to avoid a dead cycle. Experimental results show that the proposed IPSO is superior to other methods used for WFB and navigation control.<\/jats:p>","DOI":"10.3233\/jifs-182003","type":"journal-article","created":{"date-parts":[[2019,7,30]],"date-time":"2019-07-30T11:28:24Z","timestamp":1564486104000},"page":"2181-2195","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Deployment and navigation of multiple robots using a self-clustering method and type-2 fuzzy controller in dynamic environments"],"prefix":"10.1177","volume":"37","author":[{"given":"Cheng-Jian","family":"Lin","sequence":"first","affiliation":[{"name":"Department of Computer Science and Information Engineering, National Chin-Yi University of Technology, Taiwan, ROC"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chin-Ling","family":"Lee","sequence":"additional","affiliation":[{"name":"Department of International Business, National Taichung University of Science and Technology, Taiwan, ROC"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2019,7,29]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1049\/et.2010.0308"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2014.2359966"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2011.2104364"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2014.2321771"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2014.2323175"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCE.2013.6626239"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-81-322-2740-3_55"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2004.824698"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(99)00004-4"},{"key":"e_1_3_2_11_2","first-page":"281","article-title":"Some methods for classification and analysis of multivariate observations","author":"MacQueen J.","year":"1967","unstructured":"MacQueenJ., Some methods for classification and analysis of multivariate observations, Proc of the Fifth Berkeley Symposium on Math Stat and Prob (1967), 281\u2013296.","journal-title":"Proc of the Fifth Berkeley Symposium on Math Stat and Prob"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1023\/A:1015256330750"},{"key":"e_1_3_2_13_2","first-page":"1","article-title":"Multi-robot collaborative platforms for humanitarian relief actions","author":"Guti\u00e9rrez M.A.","year":"2015","unstructured":"Guti\u00e9rrezM.A., NairS., BanchsR.E., EnriquezL.F.D.H., NiculescuA.I, and VijayalingamA., Multi-robot collaborative platforms for humanitarian relief actions, 2015 IEEE Conference on Humanitarian Technology (R10-HTC), (2015), 1\u20136.","journal-title":"2015 IEEE Conference on Humanitarian Technology (R10-HTC)"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.compstruc.2014.03.007"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2585303"},{"key":"e_1_3_2_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/MPUL.2016.2606470"},{"key":"e_1_3_2_17_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2011.12.010"},{"key":"e_1_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2012.2227974"},{"key":"e_1_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2015.2441746"},{"key":"e_1_3_2_20_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2015.2411853"},{"key":"e_1_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.1109\/MIS.2015.67"},{"key":"e_1_3_2_22_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2016.07.002"},{"key":"e_1_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMAG.2013.2237760"},{"key":"e_1_3_2_24_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIT.1982.1056489"},{"key":"e_1_3_2_25_2","doi-asserted-by":"publisher","DOI":"10.1177\/1687814017752483"},{"key":"e_1_3_2_26_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-017-0743-y"},{"key":"e_1_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMAG.2013.2281818"},{"key":"e_1_3_2_28_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2014.2360752"}],"container-title":["Journal of Intelligent &amp; 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