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Distributed Leader Selection without Direct Inter-Agent Communication
Australian National University.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-1835-2963
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2010 (English)In: 2nd IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys'10, 2010, 221-226 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper is an endeavour to address the problem of distributed leader selection in a formation of autonomous agents where the agents do not communicate directly via communication channels. The algorithm that the agents use to select a leader relies on the agents observing each others' behaviours. It is shown that the proposed algorithm is terminated, on average, in finite number of step and results in the selection of a leader for the formation. Moreover, It is established that the algorithm has some common elements with an algorithm widely used in data networks, i.e.~Slotted Aloha. The application of the algorithm to a formation controlled by a nonlinear control law is studied and some numerical examples are presented to show the general performance of the algorithm.

Place, publisher, year, edition, pages
2010. 221-226 p.
Series
IFAC Proceedings Volumes, ISSN 1474-6670
Keyword [en]
Coordinated control and estimation over networks; Decentralized algorithms for computation over sensor networks; Message passing algorithms; Belief propagation
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-75299DOI: 10.3182/20100913-2-FR-4014.00068Scopus ID: 2-s2.0-80051916346ISBN: 9783902661821 (print)OAI: oai:DiVA.org:kth-75299DiVA: diva2:490431
Conference
2nd IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys'10. Annecy. 13 September 2010 - 14 September 2010
Note

QC 20120206

Available from: 2012-02-05 Created: 2012-02-05 Last updated: 2017-03-29Bibliographically approved

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Teixeira, AndréSandberg, HenrikJohansson, Karl Henrik
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