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.
2013
52nd IEEE Conference on Decision and Control
Communication graphs; Convergence properties; Coordination algorithms
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
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].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/671848
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