Project Final Report – FREEDOM ICT-248891

This document is the final publishable summary report of the objective and work carried out within the European Project FREEDOM, ICT-248891.This document is the final publishable summary report of the objective and work carried out within the European Project FREEDOM, ICT-248891.Preprin

Hybrid framework for consensus in directed and asynchronous network of non-holonomic agents

International audienceThe paper presents a hybrid systems strategy for consensus (or formation realization) for a fleet of non-holonomic agents. In the proposed model, each agent has a smooth continuous-time dynamics and a piecewise constant impulsive reference. The jumps on the reference trajectory take place at some updating instants that are decided independently by each agent. The jumps computation is based on the relative distance with respect to some time-varying neighbors at the update instants. Between the updates of its reference each robot will track its own constant reference trajectory. Our results provide consensus (formation realization) as far as a minimum dwell-time condition between consecutive updates is satisfied. A numerical example illustrates the theoretical results

Hybrid formalism for consensus of a general class of multi-agent systems with biased measurements

International audienceThe paper presents a hybrid formalism to analyze a decentralized control policy for a network of agents characterized by a class of non-linear heterogeneous dynamics and biased measurements. Each agent has a continuous-time dynamics and tracks a piecewise constant impulsive reference. The reference jumps depend on the relative distance with respect to some time-varying neighbors. The jumps take place at some updating instants that are decided independently by each agent. Our results provide input-to-state stability guarantees as far as a minimum and maximum dwell-time condition between consecutive updates is satisfied. A numerical example inspired by the formation realization problem for non-holonomic vehicles illustrates the theoretical results

Approche hybride pour le consensus pour les réseaux dirigés et asynchrones d'agents non-holonomes

National audienceCe papier présente de manière succincte la conception d'une loi de commande décentralisée pour un système multi-agents. Les dynamiques individuelles des agents sont non-linéaires et les interactions se font de façon dirigée, discrète et asynchrone. La boucle fermée obtenue est décrite par une dynamique hybride. Le résultat principal caractérise le temps de maintien minimal qu'on doit imposer entre deux mises à jour consécutives pour la commande d'un agent

Project Final Report – FREEDOM ICT-248891

This document is the final publishable summary report of the objective and work carried out within the European Project FREEDOM, ICT-248891.This document is the final publishable summary report of the objective and work carried out within the European Project FREEDOM, ICT-248891