This paper addresses the problem of event-based distributed Linear Quadratic Gaussian (LQG) control for multirobot coordination under localization uncertainty. An event-triggered LQG rendezvous control strategy is proposed to ensure coordinated motion while reducing communication overhead. The design framework decouples the LQG controller from the event-triggering mechanism, although the scheduler parameters critically influence rendezvous performance. We establish stochastic stability for the closed-loop multi-robot system and demonstrate that a carefully tuned event-triggering scheduler can effectively balance rendezvous accuracy with communication efficiency by limiting the upper bound of the rendezvous error while minimizing the average transmission rate. Experimental results using a group of Robotarium mobile robots validate the proposed approach, confirming its efficacy in achieving robust coordination under uncertainty.
@article{arxiv.2504.03125,
title = {Event-Based Distributed Linear Quadratic Gaussian for Multi-Robot Coordination with Localization Uncertainty},
author = {Tohid Kargar Tasooji and Sakineh Khodadadi},
journal= {arXiv preprint arXiv:2504.03125},
year = {2025}
}