Schenato, Luca (Univ. of Padova), Zampieri, Sandro (Univ. di Padova)

On the Performance of Randomized Communication Topologies for Rendezvous Control of Multiple Vehicles

Scheduled for presentation during the Mini-Symposium "Control and estimation of multiagent systems" (ThP11), Thursday, July 27, 2006, 16:35−17:00, Room 104a

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on May 19, 2024

Abstract

In this paper we analyze randomized coordination control strategies for the rendezvous problem of multiple agents with unknown initial positions. The performance of these control strategies is measured in terms of three important metrics: average relative agents' distance, total input energy consumption, and number of packets per unit time that each agent can receive from the other agents. By adopting an LQ-like optimal control approach, we show how to numerically compute optimal feedback gains for randomized communication topologies. In particular we show that there is a trade off between these three metrics and that the optimal feedback is a sum of two terms: one that depends only the on agents own positions and the other that depends only on relative distances between agents.