Hybrid protocols for maintaining connectivity of multiagent systems

Gerardo De La Torre, Tansel Yucelen, Eric N. Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

This paper focuses on a new connectivity control architecture for networked multiagent systems based on hybrid protocols. Specifically, for a group of agents subject to Δ-disk proximity graphs, we consider the consensus problem while preserving connectedness with a priori given bounds on the control inputs. The bounds on the control inputs are shown not to depend on potential functions or system states. Instead the bounds are user selected continuous functions. By using the proposed framework, we show that the maximum distance among neighboring agents decreases strictly, and hence the connectivity problem is solved while satisfying the consensus objective.

Original languageEnglish (US)
Title of host publication2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages805-810
Number of pages6
ISBN (Print)9781467357173
DOIs
StatePublished - Jan 1 2013
Event52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy
Duration: Dec 10 2013Dec 13 2013

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other52nd IEEE Conference on Decision and Control, CDC 2013
CountryItaly
CityFlorence
Period12/10/1312/13/13

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this

De La Torre, G., Yucelen, T., & Johnson, E. N. (2013). Hybrid protocols for maintaining connectivity of multiagent systems. In 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013 (pp. 805-810). [6759981] (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2013.6759981