(Georgia Institute of Technology, 2014-06)
Sadikhov, Teymur; Haddad, Wassim M.; Goebel, Rafal; Egerstedt, Magnus B.
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.