State Agreement for Continuous-Time Coupled Nonlinear Systems
SIAM Journal on Control and Optimization
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
Brief paper: Consensus protocols for discrete-time multi-agent systems with time-varying delays
Automatica (Journal of IFAC)
Practical multiagent rendezvous through modified circumcenter algorithms
Automatica (Journal of IFAC)
A distributed heuristic for energy-efficient multirobot multiplace rendezvous
IEEE Transactions on Robotics
Global and robust formation-shape stabilization of relative sensing networks
Automatica (Journal of IFAC)
Brief paper: Interconnection topologies for multi-agent coordination under leader-follower framework
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Brief paper: Decentralized estimation and control of graph connectivity for mobile sensor networks
Automatica (Journal of IFAC)
Moving formation convergence of a group of mobile robots via decentralised information feedback
International Journal of Systems Science
Distributed Coordination Control of Multiagent Systems While Preserving Connectedness
IEEE Transactions on Robotics
Potential Fields for Maintaining Connectivity of Mobile Networks
IEEE Transactions on Robotics
Hi-index | 22.14 |
This paper proposes a new connectivity-preserving protocol in terms of rectangle-like regions. The protocol consists of a set of distributed control rules; their working together guarantees the network connectivity as well as rendezvous of a discrete-time multi-agent system. It is assumed that all agents share a common minimum sensing radius, but the information exchange may suffer from link failure and recovery. Consequently, the interaction topology is in fact directed and time-varying. By rigorous mathematical arguments, we show the effectiveness and robustness of the protocol in the presence of alignment errors in local coordinate orientations of agents and measurement errors in relative positions of neighbors. We also present simulations to demonstrate the effectiveness of the theoretical results.