Decentralized Event-Triggered Consensus of Linear Multi-agent Systems under Directed Graphs

An event-triggered control technique for consensus of multi-agent systems with general linear dynamics is presented. This paper extends previous work to consider agents that are connected using directed graphs. Additionally, the approach shown here provides asymptotic consensus with guaranteed positive inter-event time intervals. This event-triggered control method is also used in the case where communication delays are present. For the communication delay case we also show that the agents achieve consensus asymptotically and that, for every agent, the time intervals between consecutive transmissions is lower-bounded by a positive constant.Comment: 9 pages, 5 figures, A preliminary version of this manuscript has been submitted to the 2015 American Control Conferenc

Coordination of passive systems under quantized measurements

In this paper we investigate a passivity approach to collective coordination and synchronization problems in the presence of quantized measurements and show that coordination tasks can be achieved in a practical sense for a large class of passive systems.Comment: 40 pages, 1 figure, submitted to journal, second round of revie

An Overview of Recent Progress in the Study of Distributed Multi-agent Coordination

This article reviews some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006. Distributed coordination of multiple vehicles, including unmanned aerial vehicles, unmanned ground vehicles and unmanned underwater vehicles, has been a very active research subject studied extensively by the systems and control community. The recent results in this area are categorized into several directions, such as consensus, formation control, optimization, task assignment, and estimation. After the review, a short discussion section is included to summarize the existing research and to propose several promising research directions along with some open problems that are deemed important for further investigations

A Review of Consensus-based Multi-agent UAV Applications

In this paper, a review of distributed control for multi-agent systems is proposed, focusing on consensus-based applications. Both rotary-wing and fixed-wing Unmanned Aerial Vehicles (UAVs) are considered. On one side, methodologies and implementations based on collision and obstacle avoidance through consensus are analyzed for multirotor UAVs. On the other hand, a target tracking through consensus is considered for fixed-wing UAVs. This novel approach to classify the literature could help researchers to assess the outcomes achieved in these two directions in view of potential practical implementations of consensus-based methodologies