A recent paper by some of the authors introduced several self-triggered coordination algorithms for first-order continuous-time systems. The extension of these algorithms to second-order agents is relevant in many practical applications but presents some challenges that are tackled in this contribution and that require to depart from the analysis that was carried out before. We design a self-triggered gossiping coordination algorithm that induces a time-varying communication graph, which is enough connected to guarantee useful convergence properties, and allows us to achieve the desired coordination task in a formation of double-integrator agents that (i) establish pair-wise communication at suitably designed times and (ii) exchange relative measurements while reducing the sensing and communication effort.
|Title of host publication||Proceedings of the 52nd IEEE Conference on Decision and Control|
|Place of Publication||USA|
|Publisher||IEEE CONTROL SYSTEMS SOCIETY|
|Number of pages||6|
|Publication status||Published - Dec 2013|
|Event||52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy|
Duration: 10 Dec 2013 → 13 Dec 2013
Conference number: 52
|Publisher||IEEE Control Systems Society|
|Conference||52nd IEEE Conference on Decision and Control, CDC 2013|
|Period||10/12/13 → 13/12/13|
De Persis, C., Frasca, P., & Hendrickx, J. M. (2013). Self-triggered rendezvous of gossiping second-order agents. In Proceedings of the 52nd IEEE Conference on Decision and Control (pp. 7403-7408). USA: IEEE CONTROL SYSTEMS SOCIETY.