Consensus and formation control of unicycle-like robots with discontinuous communication protocols

This work analyses the formation control problem of a Multi Agent System (MAS) composed by unicycle-like robots with synchronous intermittent communication policies. In particular, two communication architectures have been considered. The first one is a formation control protocol for a directed networks of agents using synchronous intermittent information feedback, in which the consensus can be reached if the communication duration time across each interval is larger than a threshold value. The second setup is instead a formation control problem for time-varying formation of agents under sampling with multiple leaders. The system with sampled data is then converted into a time delay system, and the problem is tackled by Lyapunov analysis based on LMIs.