Distributed consensus on enclosing shapes and minimum time rendezvous
Giuseppe Notarstefano,Francesco Bullo +1 more
- 01 Dec 2006
- pp 4295-4300
TL;DR: It is proved that these control laws converge to the optimal solution of the centralized problem (i.e., when no communication constrains are enforced) as the bound on the control input goes to zero.
read more
Abstract: In this paper we introduce the notion of optimization under control and communication constraint in a robotic network. Starting from a general setup, we focus our attention on the problem of achieving rendezvous in minimum time for a network of first order agents with bounded inputs and limited range communication. We propose two dynamic control and communication laws. These laws are based on consensus algorithms for distributed computation of the minimal enclosing ball and orthotope of a set of points. We prove that these control laws converge to the optimal solution of the centralized problem (i.e., when no communication constrains are enforced) as the bound on the control input goes to zero. Moreover, we give a bound for the time complexity of one of the two laws.
read more
Chat with Paper
AI Agents for this Paper
Find similar papers on Google Scholar, PubMed and Arxiv
Write a critical review of this paper
Analyze citations of this paper to find unaddressed research gaps
Citations
Multiple UAV Coalitions for a Search and Prosecute Mission
TL;DR: This paper proposes decentralized sub-optimal (polynomial time) and decentralized optimal coalition formation algorithms that generate coalitions for a single target with low computational complexity and compares the performance of the proposed algorithms to that of a global optimal solution.
158
•Posted Content
Distributed Abstract Optimization via Constraints Consensus: Theory and Applications
TL;DR: This work proposes novel constraints consensus algorithms for distributed abstract programs with guaranteed finite-time convergence to a global optimum and shows how the constraints consensus algorithm may be applied to suitable target localization and formation control problems.
Rendezvous of Multiple UAVs with Collision Avoidance Using Consensus
TL;DR: In this paper, the authors proposed a rendezvous algorithm based on a consensus among the UAVs on the estimated time of arrival at the point of the rendezvous, which is shown to be useful in tracking stationary or slowly moving targets.
48
Network abstract linear programming with application to minimum-time formation control
Giuseppe Notarstefano,Francesco Bullo +1 more
- 01 Dec 2007
TL;DR: A novel class of distributed optimization problems, namely a networked version of abstract linear programming, is identified and distributed algorithms for networks with various connectivity and/or memory constraints are proposed.
Improved Bounds for Max Consensus in Wireless Networks
Aida Nowzari,Michael G. Rabbat +1 more
- 01 Jun 2019
TL;DR: Totals on the expected convergence time of Random-Pairwise-Max and Random-Broadcast-Max algorithms when run on grid networks and random geometric graphs are derived—two models commonly used to capture salient properties of wireless networks.
11
References
Distributed Algorithms 2020
Juho Hirvonen,Jukka Suomela +1 more
- 01 Jan 2020
TL;DR: This week it is shown that 3-coloring paths requires Ω(log∗ n) rounds, which matches the fast coloring algorithms that the authors saw in Chapter 1.
Local control strategies for groups of mobile autonomous agents
TL;DR: The problem of achieving a specified formation among a group of mobile autonomous agents by distributed control is studied, and convergence to a point is feasible and convergence is proved under certain conditions.
Robust rendezvous for mobile autonomous agents via proximity graphs in arbitrary dimensions
TL;DR: The novel correctness proof relies on proximity graphs and their properties and on a general LaSalle invariance principle for nondeterministic discrete-time dynamical systems.
770
Distributed memoryless point convergence algorithm for mobile robots with limited visibility
H. Ando,Y. Oasa,Ichiro Suzuki,Masafumi Yamashita +3 more
- 01 Dec 1999
TL;DR: The results of computer simulation under a more realistic model give convincing indication that the algorithm, if implemented on physical robots, will be robust against sensor and control error.
619
Coordination Variables and Consensus Building in Multiple Vehicle Systems
Timothy W. McLain
- 01 Jan 2004
TL;DR: This paper offers the following, intuitively appealing, fundamental axiom: the usefulness of cooperative control technologies will be greatly enhanced if, as a community, the authors develop techniques that apply more generally to nonformation cooperative control problems.