Information Consensus in Partial Synchronous Network of Multi-robot Systems

Author

LONG, XiaoLin ; JIANG, JingPing

Author_Institution

Sch. of Autom., Wuhan Univ. of Technol., Wuhan, China

fYear

2008

fDate

10-12 Dec. 2008

Firstpage

586

Lastpage

591

Abstract

This paper has considered the information consensus problems among a group of robots connected via a communication network. With the basis of some mathematical knowledge about graph theory and distributed algorithm, a consensus protocol for a partial synchronous network of multi-robot system was proposed, and its convergence was analyzed. Simulation was given to verify and evaluate the proposed consensus protocol, and the results showed its convergence.

Keywords

control engineering computing; cooperative systems; distributed algorithms; graph theory; multi-robot systems; protocols; communication network; consensus protocol; convergence results; distributed algorithm; graph theory; information consensus; multi-robot systems; partial synchronous network; simulation; Communication networks; Communication system control; Convergence; Electronic mail; Graph theory; Multiagent systems; Multirobot systems; Protocols; Robot kinematics; Robotics and automation; cooperative control; distributed computation; information consensus; multi-robot system; partial synchrony;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence for Modelling Control & Automation, 2008 International Conference on

Conference_Location

Vienna

Print_ISBN

978-0-7695-3514-2

Type

conf

DOI

10.1109/CIMCA.2008.117

Filename

5172691