A recent paper by some of the authors introduced several self-triggered coordination algorithms for first-order continuous-time systems. The extension of these algorithms to second-order agents is relevant in many practical applications but presents some challenges that are tackled in this contribution and that require to depart from the analysis that was carried out before. We design a self-triggered gossiping coordination algorithm that induces a time-varying communication graph, which is enough connected to guarantee useful convergence properties, and allows us to achieve the desired coordination task in a formation of double-integrator agents that (i) establish pair-wise communication at suitably designed times and (ii) exchange relative measurements while reducing the sensing and communication effort. © 2013 IEEE.
Self-triggered rendezvous of gossiping second-order agents / DE PERSIS, Claudio; P., Frasca; J. M., Hendrickx. - (2013), pp. 7403-7408. (Intervento presentato al convegno 52nd IEEE Conference on Decision and Control tenutosi a Florence; Italy nel December 2013) [10.1109/CDC.2013.6761064].
Self-triggered rendezvous of gossiping second-order agents
DE PERSIS, Claudio;
2013
Abstract
A recent paper by some of the authors introduced several self-triggered coordination algorithms for first-order continuous-time systems. The extension of these algorithms to second-order agents is relevant in many practical applications but presents some challenges that are tackled in this contribution and that require to depart from the analysis that was carried out before. We design a self-triggered gossiping coordination algorithm that induces a time-varying communication graph, which is enough connected to guarantee useful convergence properties, and allows us to achieve the desired coordination task in a formation of double-integrator agents that (i) establish pair-wise communication at suitably designed times and (ii) exchange relative measurements while reducing the sensing and communication effort. © 2013 IEEE.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
