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On the performance of randomized communication topologies for rendezvous control of multiple vehicles
| Content Provider | Semantic Scholar |
|---|---|
| Author | Schenato, Luca Zampieri, Sandro |
| Copyright Year | 2006 |
| Abstract | In this paper we analyze randomized coordination control strategies for the rendezvous problem of multiple agents with unknown initial positions. The performance of these control strategies is measured in terms of three important metrics: average relative agents’ distance, total input energy consumption, and number of packets per unit time that each agent can receive from the other agents. By adopting an LQ-like optimal control approach, we show how to numerically compute optimal feedback gains for randomized communication topologies. In particular we show that there is a trade off between these three metrics and that the optimal feedback is a sum of two terms: one that depends only the on agents own positions and the other that depends only on relative distances between agents. Keywords— Rendezvous control, networked control system, consensus agreement, optimal control, randomized topology |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.dei.unipd.it/~schenato/PAPERS/MTNS06_rendezvous.pdf |
| Alternate Webpage(s) | http://automatica.dei.unipd.it/tl_files/utenti/lucaschenato/Papers/Conference/On_the_performance_rendezvous_MTNS06.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
