Computational geometry: algorithms and applications
Computational geometry: algorithms and applications
Distributed average consensus with least-mean-square deviation
Journal of Parallel and Distributed Computing
The Multi-Agent Rendezvous Problem. Part 1: The Synchronous Case
SIAM Journal on Control and Optimization
The Multi-Agent Rendezvous Problem. Part 2: The Asynchronous Case
SIAM Journal on Control and Optimization
A convergence result for multiagent systems subject to noise
ACC'09 Proceedings of the 2009 conference on American Control Conference
A local O(n2) gathering algorithm
Proceedings of the twenty-second annual ACM symposium on Parallelism in algorithms and architectures
Collisionless gathering of robots with an extent
SOFSEM'11 Proceedings of the 37th international conference on Current trends in theory and practice of computer science
Connectivity preservation for multi-agent rendezvous with link failure
Automatica (Journal of IFAC)
| Hi-index | 22.15 |
We present a class of modified circumcenter algorithms that allow a group of agents to achieve ''practical rendezvous'' when they are only able to take noisy measurements of their neighbors. Assuming a uniform detection probability in a disk of radius @s about each neighbor's true position, we show how initially connected agents converge to a practical stability ball. More precisely, a deterministic analysis allows us to guarantee convergence to such a ball under r-disk graph connectivity in 1D under the condition that r/@s be sufficiently large. A stochastic analysis leads to a similar convergence result in probability, but for any r/@s1, and under a sequence of switching graphs that contains a connected graph within bounded time intervals. We include several simulations to discuss the performance of the proposed algorithms.