Self-triggered rendezvous of gossiping second-order agents

Claudio De Persis, Paolo Frasca, Julien M. Hendrickx

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    10 Citations (Scopus)
    68 Downloads (Pure)

    Abstract

    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.
    Original languageUndefined
    Title of host publicationProceedings of the 52nd IEEE Conference on Decision and Control
    Place of PublicationUSA
    PublisherIEEE CONTROL SYSTEMS SOCIETY
    Pages7403-7408
    Number of pages6
    ISBN (Print)978-1-4673-5716-6
    Publication statusPublished - Dec 2013
    Event52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy
    Duration: 10 Dec 201313 Dec 2013
    Conference number: 52

    Publication series

    Name
    PublisherIEEE Control Systems Society

    Conference

    Conference52nd IEEE Conference on Decision and Control, CDC 2013
    Abbreviated titleCDC
    CountryItaly
    CityFlorence
    Period10/12/1313/12/13

    Keywords

    • EWI-24174
    • METIS-300256
    • IR-88320

    Cite this

    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.