Abstract:
This paper explores the rendezvous problem for a multi-agent system (MAS) with distance-limited, intermittent communication and sensing. Unlike previous works that pro-vi...View moreMetadata
Abstract:
This paper explores the rendezvous problem for a multi-agent system (MAS) with distance-limited, intermittent communication and sensing. Unlike previous works that pro-vide specific event-triggered controllers, we provide a frame-work that characterize a family of distributed event-triggered controllers leveraging non-singular edge-potentials to achieve approximate rendezvous while maintaining the initial distance-limited graph. The proposed framework excludes the possibility of Zeno behavior and accommodates the development of self-triggered controllers. The combination of continuous and impulsive dynamics results in a hybrid system, where the closed-loop dynamics of the MAS are presented and analyzed using hybrid differential inclusions. The approximate rendezvous problem is recast into a set stabilization problem and sufficient conditions of the rendezvous set are obtained through a Lyapunov-based analysis. Simulation results are provided to validate the development.
Published in: 2021 60th IEEE Conference on Decision and Control (CDC)
Date of Conference: 14-17 December 2021
Date Added to IEEE Xplore: 01 February 2022
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