Abstract — The problem of driving a set of vehicles (agents) to a desired target configuration under event-based communication and measurement constraints is analyzed. We start by studying the single agent problem, where we propose a waypoint based solution, along with two alternative control strategies. After deriving their properties and proving some relevant results, we proceed to study the two agent case. We generalize the results obtained for this network to the multi agent network. Our strategy is able to position each agent within a given distance of its target while satisfying the constraints. We provide some numerical examples for relevant scenarios. I
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