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Consensus enhancement for multi-agent systems with rotating-segmentation perception

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Abstract

In this paper, we investigate the consensus problem of multi-agent systems (MASs) with a limited sensing range using two kinds of distributed neighbor selection strategies. Because each agent’s convergence evolution is typically based on the “select all perceived neighbors” (SAN) framework, fragmentation into multiple clusters is likely to occur, and data storage and computational load can grow exponentially as the number of agents increases. To address this challenge, we propose a new distributed consensus framework composed of two strategies that can effectively enhance the consensus of the MAS. First, a novel representative selection with rotating-segmentation perception (RSRSP) strategy is provided for agents to intelligently select representative neighbors in each sector of the communication region for convergence evolution. Second, a distributed switching strategy is designed for each agent to synchronously switch from RSRSP to SAN when the system reaches full connectivity. We analyze the stability of the proposed consensus protocol with the common Lyapunov function and verify the superiority of the two proposed strategies through comparisons with a baseline SAN algorithm.

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Funding

This work is partially supported by National Natural Science Foundation of China, Grant Nos. 62006047 and 618760439, Guangdong Natural Science Foundation, Grant No. 2021B0101220004. This article does not contain any studies with human participants or animals performed by any of the authors.

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Authors and Affiliations

  1. School of Computer Science and Technology, Guangdong University of Technology, No.100 Waihuanxi Road, HEMC, Guangzhou, 510006, Guangdong, China

    Guangqiang Xie, Haoran Xu & Yang Li

  2. Department of Civil & Environmental Engineering, The Pennsylvania State University, 221B Sackett Building, University Park, PA, 16802-1408, USA

    Xianbiao Hu

  3. School of Computer Science and Engineering, Sun Yat-sen University, No.132 Waihuanxi Road, HEMC, Guangzhou, 510275, Guangdong, China

    Chang-Dong Wang

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  1. Guangqiang Xie
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  2. Haoran Xu
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Correspondence to Yang Li.

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Xie, G., Xu, H., Li, Y. et al. Consensus enhancement for multi-agent systems with rotating-segmentation perception. Appl Intell 53, 5750–5765 (2023). https://doi.org/10.1007/s10489-022-03687-x

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