Title:
Constrained Agreement Protocols for Tree Graph Topologies

dc.contributor.author Chipalkatty, Rahul
dc.contributor.author Egerstedt, Magnus B.
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Electrical and Computer Engineering en_US
dc.date.accessioned 2012-08-31T19:39:56Z
dc.date.available 2012-08-31T19:39:56Z
dc.date.issued 2011-02
dc.description This is a preprint of an article submitted for consideration in the International Journal of Control, copyright Taylor & Francis; International Journal of Control is available online at: http://www.informaworld.com/ en_US
dc.description DOI:10.1080/00207179.2012.656288 en_US
dc.description.abstract This paper presents a novel way of manipulating the initial conditions in the consensus equation such that a constrained agreement problem is solved across a distributed network of agents, particularly for a network represented by a tree graph. The presented method is applied to the problem of coordinating multiple pendula attached to mobile bases. The pendula should move in such a way that their motion is synchronized, which calls for a constrained optimal control problem for each pendulum as well as the constrained agreement problem across the network. Simulation results are presented that support the viability of the proposed approach as well as a hardware demonstration. en_US
dc.identifier.citation R. Chipalkatty and M. Egerstedt. Constrained Agreement Protocols for Tree Graph Topologies. International Journal of Control, Vol. 85, No. 5, pp. 457-474, May 2012. en_US
dc.identifier.issn 0020-7179
dc.identifier.uri http://hdl.handle.net/1853/44590
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Taylor & Francis
dc.subject Consensus algorithm en_US
dc.subject Optimal control en_US
dc.subject Graph-based multi-agent control en_US
dc.subject Constrained agreement en_US
dc.subject Protocol en_US
dc.title Constrained Agreement Protocols for Tree Graph Topologies en_US
dc.type Text
dc.type.genre Article
dc.type.genre Pre-print
dspace.entity.type Publication
local.contributor.author Egerstedt, Magnus B.
local.contributor.corporatename School of Electrical and Computer Engineering
local.contributor.corporatename College of Engineering
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relation.isOrgUnitOfPublication 5b7adef2-447c-4270-b9fc-846bd76f80f2
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
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