Robust rendezvous for mobile autonomous agents via proximity graphs. in arbitrary dimensions

被引：479

作者：

Cortes, Jorge ^{[1
]}

Martinez, Sonia

Bullo, Francesco

机构：

[1] Univ Calif Santa Cruz, Dept Appl Math & Stat, Santa Cruz, CA 95064 USA

[2] Univ Calif San Diego, Dept Mech & Aerosp Engn, La Jolla, CA 92093 USA

[3] Univ Calif Santa Barbara, Dept Mech Engn, Santa Barbara, CA 93106 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2006年 / 51卷 / 08期

基金：

美国国家科学基金会;

关键词：

cooperative control; distributed coordination algorithms; nondeterministic dynamical systems; proximity graphs; rendezvous; robustness;

D O I：

10.1109/TAC.2006.878713

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents coordination algorithms for networks of mobile autonomous agents. The objective of the proposed algorithms is to achieve rendezvous, that is, agreement over the location of the agents in the network. We provide analysis and design results for multiagent networks in arbitrary dimensions under weak requirements on the switching and failing communication topology. The novel correctness proof relies on proximity graphs and their properties and on a general LaSalle invariance principle for nondeterministic discrete-time dynamical systems.

引用

页码：1289 / 1298

页数：10

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