Influence of Stochastic Communication Losson the Stability of a Formation of Multiple Agents

Stability conditions of networked multiple mobile agents in the face of stochastic communications failure are derived. Using a graph-theoretic approach, we provide stability analysis for the case where we employ zero-order hold sampled-data controller and the information of relative positions/velocities are unavailable for certain time instants at each agent. Finally, numerical examples are provided to illustrate the theoretical results obtained in this paper.