کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
696316 890332 2012 11 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Connectivity preservation for multi-agent rendezvous with link failure
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Connectivity preservation for multi-agent rendezvous with link failure
چکیده انگلیسی

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.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 48, Issue 1, January 2012, Pages 25–35
نویسندگان
, , ,