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

Author

Cortés, Jorge ; Martínez, Sonia ; Bullo, Francesco

Author_Institution

Dept. of Appl. Math. & Stat., California Univ., Santa Cruz, CA

Volume

51

Issue

8

fYear

2006

Firstpage

1289

Lastpage

1298

Abstract

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

Keywords

discrete time systems; mobile agents; mobile robots; motion control; multi-robot systems; robust control; time-varying systems; topology; arbitrary dimensions; communication topology; mobile autonomous agents; multiagent networks; nondeterministic discrete-time dynamical systems; proximity graphs; robotic agents; robust rendezvous; Ad hoc networks; Algorithm design and analysis; Autonomous agents; Communication switching; Communication system control; Mobile communication; Motion control; Network topology; Robust control; Robustness; Cooperative control; distributed coordination algorithms; nondeterministic dynamical systems; proximity graphs; rendezvous; robustness;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2006.878713

Filename

1673588