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arXiv · 1903.07906

Efficient Consensus-based Formation Control With Discrete-Time Broadcast Updates

Fabio Molinari·Joerg Raisch
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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.

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Fabio Molinari, Joerg Raisch. 2019-03-19. Efficient Consensus-based Formation Control With Discrete-Time Broadcast Updates. https://arxiv.org/abs/1903.07906

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