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Distributed Consensus in Multi-vehicle Cooperative Control
Wei Ren,Randal W. Beard +1 more
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In this article, the authors present a survey of the use of consensus algorithms in multi-vehicle cooperative control, including single-and double-integrator dynamical systems, rigid-body attitude dynamics, rendezvous and axial alignment, formation control, deep-space formation flying, fire monitoring and surveillance.Abstract:
The coordinated use of autonomous vehicles has an abundance of potential applications from the domestic to the hazardously toxic. Frequently the communications necessary for the productive interplay of such vehicles may be subject to limitations in range, bandwidth, noise and other causes of unreliability. Information consensus guarantees that vehicles sharing information over a network topology have a consistent view of information critical to the coordination task. Assuming only neighbor-neighbor interaction between vehicles, Distributed Consensus in Multi-vehicle Cooperative Control develops distributed consensus strategies designed to ensure that the information states of all vehicles in a network converge to a common value. This approach strengthens the team, minimizing power consumption and the deleterious effects of range and other restrictions. The monograph is divided into six parts covering introductory, theoretical and experimental material and featuring: an overview of the use of consensus algorithms in cooperative control; consensus algorithms in single- and double-integrator dynamical systems; consensus algorithms for rigid-body attitude dynamics; rendezvous and axial alignment, formation control, deep-space formation flying, fire monitoring and surveillance. Notation drawn from graph and matrix theory and background material on linear and nonlinear system theory are enumerated in six appendices. The authors maintain a website at which can be found a sample simulation and experimental video material associated with experiments in several chapters of this book. Academic control systems researchers and their counterparts in government laboratories and robotics- and aerospace-related industries will find the ideas presented in Distributed Consensus in Multi-vehicle Cooperative Control of great interest. This text will also serve as a valuable support and reference for graduate courses in robotics, and linear and nonlinear control systems.read more
Citations
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Journal ArticleDOI
Event-based consensus of multi-agent systems with general linear models
TL;DR: The advantage of the event-based strategy is the significant decrease of the number of controller updates for cooperative tasks of multi-agent systems involving embedded microprocessors with limited on-board resources.
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Distributed Coordinated Tracking With Reduced Interaction via a Variable Structure Approach
Yongcan Cao,Wei Ren +1 more
TL;DR: A distributed coordinated tracking problem is solved via a variable structure approach when there exists a dynamic virtual leader who is a neighbor of only a subset of a group of followers, all followers have only local interaction, and only partial measurements of the states of the virtual leader and the followers are available.
Journal ArticleDOI
Lyapunov, Adaptive, and Optimal Design Techniques for Cooperative Systems on Directed Communication Graphs
TL;DR: This paper presents three design techniques for cooperative control of multiagent systems on directed graphs, namely, Lyapunov design, neural adaptive design, and linear quadratic regulator (LQR)-based optimal design.
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Brief paper: Distributed containment control for Lagrangian networks with parametric uncertainties under a directed graph
Jie Mei,Wei Ren,Guangfu Ma +2 more
TL;DR: A distributed adaptive control algorithm combined with distributed sliding-mode estimators is proposed for networked Lagrangian systems with multiple dynamic leaders in the presence of parametric uncertainties under a directed graph that characterizes the interaction among the leaders and the followers.
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Safety Barrier Certificates for Collisions-Free Multirobot Systems
TL;DR: This paper presents safety barrier certificates that ensure scalable and provably collision-free behaviors in multirobot systems by modifying the nominal controllers to formally satisfy safety constraints.
References
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Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more
TL;DR: A theoretical explanation for the observed behavior of the Vicsek model, which proves to be a graphic example of a switched linear system which is stable, but for which there does not exist a common quadratic Lyapunov function.
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TL;DR: Numerical evidence is presented that this model results in a kinetic phase transition from no transport to finite net transport through spontaneous symmetry breaking of the rotational symmetry.
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Information flow and cooperative control of vehicle formations
J.A. Fax,Richard M. Murray +1 more
TL;DR: A Nyquist criterion is proved that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability, and a method for decentralized information exchange between vehicles is proposed.
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Multi-vehicle consensus with a time-varying reference state
TL;DR: This paper first analyzes a consensus algorithm with a constant reference state using graph theoretical tools, then proposes consensus algorithms with a time-varying reference state and shows necessary and sufficient conditions under which consensus is reached on the time-Varyingreference state.
Journal ArticleDOI
Consensus strategies for cooperative control of vehicle formations
TL;DR: In this article, a consensus-based formation control strategy is proposed to guarantee accurate formation maintenance in the general case of arbitrary (directed) information flow between vehicles as long as certain mild conditions are satisfied.
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