This work concerns the implementation of hybrid consensus control for nonholonomic multi-robot systems. It is shown how it is possible to attain a consensus behaviour in a multi-agent system having internal communications characterized by sampling. Furthermore, it is shown how it is possible to make the multi-agent system reach a formation with desired position and orientation by adding a virtual agent within the system. A simulation study supports and validates the theoretical results.
Hybrid consensus control for nonholonomic multi-robot systems / Aloisi, Davide; Cristofaro, Andrea. - (2024), pp. 1786-1791. ( 10th International Conference on Control, Decision and Information Technologies (CoDIT 2024) Malta ) [10.1109/CoDIT62066.2024.10708413].
Hybrid consensus control for nonholonomic multi-robot systems
Davide Aloisi
;Andrea Cristofaro
2024
Abstract
This work concerns the implementation of hybrid consensus control for nonholonomic multi-robot systems. It is shown how it is possible to attain a consensus behaviour in a multi-agent system having internal communications characterized by sampling. Furthermore, it is shown how it is possible to make the multi-agent system reach a formation with desired position and orientation by adding a virtual agent within the system. A simulation study supports and validates the theoretical results.| File | Dimensione | Formato | |
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