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Multi-agent coordination with event-based communication
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: Proceedings of the American Control Conference, IEEE , 2010, 824-829 p.Conference paper (Refereed)
Abstract [en]

The problem of driving a set of vehicles (agents) to a desired target configuration under event-based communication and measurement constraints is analyzed. We start by studying the single agent problem, where we propose a waypoint based solution, along with two alternative control strategies. After deriving their properties and proving some relevant results, we proceed to study the two agent case. We generalize the results obtained for this network to the multi agent network. Our strategy is able to position each agent within a given distance of its target while satisfying the constraints. We provide some numerical examples for relevant scenarios.

Place, publisher, year, edition, pages
IEEE , 2010. 824-829 p.
, Proceedings of the American Control Conference, ISSN 0743-1619
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-79994ISI: 000287187901035ScopusID: 2-s2.0-77957785850ISBN: 978-1-4244-7426-4OAI: diva2:495907
2010 AMERICAN CONTROL CONFERENCE, June 30 2010-July 2 2010
© 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20120210Available from: 2012-02-10 Created: 2012-02-09 Last updated: 2012-02-10Bibliographically approved

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