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.
IEEE_Trn_on_Con_Sys_Tec_23-5_1807_2015.pdf - Published Version
Restricted to Registered users only
Download (5Mb) | Request a copy
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|
|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|
Actions (login required)