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A rendezvous algorithm for multi-agent systems in disconnected network topologies
Rafael Ribeiro1; Daniel Silvestre2,3; Carlos Silvestre1
2020-09-01
Conference Name2020 28th Mediterranean Conference on Control and Automation (MED)
Source Publication2020 28th Mediterranean Conference on Control and Automation, MED 2020
Pages592-597
Conference Date15-18 Sept. 2020
Conference PlaceSaint-Raphaël, France
PublisherIEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
Abstract

This paper addresses the problem of having a multi-agent system converging to a rendezvous location for networks of agents without any type of localization sensor. A central node or tower is able to determine the noisy position of each agent and transmit it using a directional antenna. Given the asynchronous communication setup, the topology will not be connected in general, which precludes the use of set-consensus algorithms available in the literature. By devising a flocking rule with mechanisms to prevent collisions, nodes explore the mission plane while maintaining the current connectivity. The process is followed by a convergence phase using a modified set-consensus algorithm with collision-free guarantees and asymptotic convergence. Results are also presented that, if there is a sufficient density of nodes, convergence occurs to a single cluster. The performance of the proposed algorithm is assessed through simulations, illustrating the cases where convergence occurs to a single or multiple clusters.

KeywordAgents-based Systems Cooperative Control Distributed Control
DOI10.1109/MED48518.2020.9183093
URLView the original
Indexed ByCPCI-S
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering ; Operations Research & Management Science ; Robotics
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Operations Research & Management Science ; Robotics
WOS IDWOS:000612207700097
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Cited Times [WOS]:2   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionUniversity of Macau
Corresponding AuthorRafael Ribeiro
Affiliation1.Instituto Superior Técnico,Universidade de Lisboa,Lisbon,Portugal
2.Department of Electrical and Computer Engineering,Faculty of Science and Technology of the University of Macau,Macao
3.Institute for Systems and Robotics,Instituto Superior Técnico,Universidade de Lisboa,Lisbon,Portugal
Recommended Citation
GB/T 7714
Rafael Ribeiro,Daniel Silvestre,Carlos Silvestre. A rendezvous algorithm for multi-agent systems in disconnected network topologies[C]:IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA,2020:592-597.
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