Efficient Consensus-based Formation Control With Discrete-Time Broadcast Updates
Abstract
This paper presents a consensus-based formation control strategy for autonomous agents moving in the plane with continuous-time single integrator dynamics. In order to save wireless resources (bandwidth, energy, etc), the designed controller exploits the superposition property of the wireless channel. A communication system, which is based on the Wireless Multiple Access Channel (WMAC) model and can deal with the presence of a fading channel is designed. Agents access the channel with simultaneous broadcasts at synchronous update times. A continuous-time controller with discrete-time updates is proposed. A proof of convergence is given and simulations are shown, demonstrating the effectiveness of the suggested approach.
Cite
@article{arxiv.1903.07906,
title = {Efficient Consensus-based Formation Control With Discrete-Time Broadcast Updates},
author = {Fabio Molinari and Joerg Raisch},
journal= {arXiv preprint arXiv:1903.07906},
year = {2019}
}
Comments
Submitted to CDC 2019