Person:
Haddad,
Wassim M.
Publication Search Results
Set-Valued Protocols for Almost Consensus of Multiagent Systems with Uncertain Interagent Communication
Person:
Haddad,
Wassim M.
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One of the main challenges in robotics applications is dealing with inaccurate sensor data. Specifically, for a group
of mobile robots the measurement of the exact location of the
other robots relative to a particular robot is often inaccurate due to sensor uncertainty or detrimental environmental conditions. In this paper, we address the consensus problem for a group of agent robots with uncertain interagent communication.
Measurement uncertainty is characterized by balls of radius r centered at the neighboring agents exact locations. We show that
the agents reach an almost consensus state and converge to a
time-varying ball of radius
r and include an analysis approach to the problem based on set-valued analysis. Finally, several
illustrative numerical examples are provided to demonstrate the efficacy of the proposed set-valued consensus protocol framework.
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