A decentralized, convergent, nearest neighbor, spatial consensus, control protocol

Ahmad A. Masoud

doi:10.1109/ACC.2014.6858580

A decentralized, convergent, nearest neighbor, spatial consensus, control protocol

Ahmad A. Masoud^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper a convergent, nearest-neighbor, consensus control protocol is suggested for agents with nontrivial dynamics. The protocol guarantees convergence to a common point in space even if each agent is restricted to communicate with its nearest neighbor. The neighbor, however, is restricted to lie outside an arbitrarily small priority zone surrounding the agent. The control protocol consists of two layers interconnected in a provably-correct manner. The first layer guides the agent to the rendezvous point while the other converts the guidance signal to a control signal that suits realistic agents such as UGVs, UAVs and holonomic agents with second order dynamics.

Original language	English
Title of host publication	2014 American Control Conference, ACC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4683-4689
Number of pages	7
ISBN (Print)	9781479932726
DOIs	https://doi.org/10.1109/ACC.2014.6858580
State	Published - 2014

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Keywords

Decentralized control
Networked control systems
Nonlinear systems

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/ACC.2014.6858580

Cite this

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title = "A decentralized, convergent, nearest neighbor, spatial consensus, control protocol",

abstract = "In this paper a convergent, nearest-neighbor, consensus control protocol is suggested for agents with nontrivial dynamics. The protocol guarantees convergence to a common point in space even if each agent is restricted to communicate with its nearest neighbor. The neighbor, however, is restricted to lie outside an arbitrarily small priority zone surrounding the agent. The control protocol consists of two layers interconnected in a provably-correct manner. The first layer guides the agent to the rendezvous point while the other converts the guidance signal to a control signal that suits realistic agents such as UGVs, UAVs and holonomic agents with second order dynamics.",

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series = "Proceedings of the American Control Conference",

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A decentralized, convergent, nearest neighbor, spatial consensus, control protocol. / Masoud, Ahmad A.
2014 American Control Conference, ACC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 4683-4689 6858580 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - In this paper a convergent, nearest-neighbor, consensus control protocol is suggested for agents with nontrivial dynamics. The protocol guarantees convergence to a common point in space even if each agent is restricted to communicate with its nearest neighbor. The neighbor, however, is restricted to lie outside an arbitrarily small priority zone surrounding the agent. The control protocol consists of two layers interconnected in a provably-correct manner. The first layer guides the agent to the rendezvous point while the other converts the guidance signal to a control signal that suits realistic agents such as UGVs, UAVs and holonomic agents with second order dynamics.

AB - In this paper a convergent, nearest-neighbor, consensus control protocol is suggested for agents with nontrivial dynamics. The protocol guarantees convergence to a common point in space even if each agent is restricted to communicate with its nearest neighbor. The neighbor, however, is restricted to lie outside an arbitrarily small priority zone surrounding the agent. The control protocol consists of two layers interconnected in a provably-correct manner. The first layer guides the agent to the rendezvous point while the other converts the guidance signal to a control signal that suits realistic agents such as UGVs, UAVs and holonomic agents with second order dynamics.

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KW - Networked control systems

KW - Nonlinear systems

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DO - 10.1109/ACC.2014.6858580

M3 - Conference contribution

AN - SCOPUS:84905695450

SN - 9781479932726

T3 - Proceedings of the American Control Conference

SP - 4683

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BT - 2014 American Control Conference, ACC 2014

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

A decentralized, convergent, nearest neighbor, spatial consensus, control protocol

Abstract

Publication series

Keywords

ASJC Scopus subject areas

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