Asynchronous Distributed Algorithms for Heading Consensus of Multi-Agent Systems with Communication Delay

In this paper, we propose two asynchronous distributed protocols for the heading consensus of a multi‐agent group which cannot access a global coordinate system and a global time. Both the leaderless and leader‐following cases are addressed, and inter‐agent communication delay is taken into account....

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Veröffentlicht in:Asian journal of control Jg. 15; H. 2; S. 430 - 443
Hauptverfasser: Li, Qin, Jiang, Zhong-Ping
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Hoboken Blackwell Publishing Ltd 01.03.2013
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Schlagworte:
Algorithms
asynchronous algorithms
Communication
Control systems
heading consensus
Multi-agent systems
ISSN:1561-8625, 1934-6093
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Zusammenfassung:In this paper, we propose two asynchronous distributed protocols for the heading consensus of a multi‐agent group which cannot access a global coordinate system and a global time. Both the leaderless and leader‐following cases are addressed, and inter‐agent communication delay is taken into account. It is proved, under some standard connectivity assumptions, that our leaderless algorithm ensures the heading consensus provided the initial headings are not balanced; and the leader‐based algorithm guarantees the global heading consensus.
Bibliographie:istex:0E7C3B329FBC153301B5D35E2D8C8286C1AF7D48
the NNSF of China - No. 60628302
ArticleID:ASJC551
ark:/67375/WNG-2NKL6MQG-5
NSF - No. ECS-0093176; No. DMS-0504462; No. DMS-0906659
ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:1561-8625
1934-6093
DOI:10.1002/asjc.551