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Broadcast Control Mechanism for Positional Consensus in Multiagent Systems

Das, Kaushik and Ghose, Debasish (2015) Broadcast Control Mechanism for Positional Consensus in Multiagent Systems. In: IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 23 (5). pp. 1807-1826.

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Official URL: http://dx.doi.org/10.1109/TCST.2015.2388732

Abstract

In this paper, a strategy for controlling a group of agents to achieve positional consensus is presented. The problem is constrained by the requirement that every agent must be given the same control input through a broadcast communication mechanism. Although the control command is computed using state information in a global framework, the control input is implemented by the agents in a local coordinate frame. We propose a novel linear programming (LP) formulation that is computationally less intensive than earlier proposed methods. Moreover, a random perturbation input in the control command that helps the agents to come close to each other even for a large number of agents, which was not possible with an existing strategy in the literature, is introduced. The method is extended to achieve positional consensus at a prespecified location. The effectiveness of the approach is illustrated through simulation results. A comparison between the LP approach and the existing second-order cone programming-based approach is also presented. The algorithm was successfully implemented on a robotic platform with three robots.

Item Type: Journal Article
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Additional Information: Copy right for this article belongs to the IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855-4141 USA
Keywords: Broadcast control; consensus; ensemble control; LEGO robots; linear programming (LP); multiagent system
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Date Deposited: 11 Sep 2015 04:29
Last Modified: 11 Sep 2015 04:29
URI: http://eprints.iisc.ernet.in/id/eprint/52314

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