Abstract
In this paper, a consensus protocol is introduced to virtually manipulate the communication topology of a given networked multiagent system - without adding physical edges to the graph. The proposed protocol achieves this objective by utilizing not only neighboring agents' relative position information but also their possibly delayed velocity information. It is shown that the stability of the proposed framework is not dependent on the possible time delay present in the neighboring velocity information. In addition, it is formally proven that utilization of the proposed consensus protocol is equivalent to the addition of virtual communication links in a standard consensus protocol. Therefore, the proposed framework provides a tool to increase the performance of a multiagent system without resorting to adding communication links.
Recommended Citation
G. De La Torre and T. Yucelen, "Consensus with Reduced Communication Links Via Relative Neighboring Velocity Information," Proceedings of the American Control Conference, pp. 3410 - 3415, article no. 7171859, Institute of Electrical and Electronics Engineers, Jul 2015.
The definitive version is available at https://doi.org/10.1109/ACC.2015.7171859
Department(s)
Mechanical and Aerospace Engineering
International Standard Book Number (ISBN)
978-147998684-2
International Standard Serial Number (ISSN)
0743-1619
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2024 Institute of Electrical and Electronics Engineers, All rights reserved.
Publication Date
28 Jul 2015
