Title:
Set-Valued Protocols for Almost Consensus of Multiagent Systems with Uncertain Interagent Communication
Set-Valued Protocols for Almost Consensus of Multiagent Systems with Uncertain Interagent Communication
Author(s)
Sadikhov, Teymur
Haddad, Wassim M.
Goebel, Rafal
Egerstedt, Magnus B.
Haddad, Wassim M.
Goebel, Rafal
Egerstedt, Magnus B.
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Abstract
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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Date Issued
2014-06
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Text
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