Brief paper: Distributed nonlinear control algorithms for network consensus
Automatica (Journal of IFAC)
Laplacian sheep: a hybrid, stop-go policy for leader-based containment control
HSCC'06 Proceedings of the 9th international conference on Hybrid Systems: computation and control
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In this paper we propose a methodology to solve the constrained consensus problem, i.e., the consensus problem for multi-agent systems with constrained dynamics. We propose a decentralized one-step horizon optimization problem to be solved iteratively by the agents to achieve rendezvous at the centroid of the network while ensuring the connectivity of the network and the feasibility of the agents motion respect to their constrained kinematics. We also provide simulations of the algorithm behavior.