Distributed Consensus Problem of Multiple Non-holonomic Mobile Robots

2021 ◽  
Author(s):  
Nour Jaoura ◽  
Lama Hassan ◽  
Adel Alkafri
Keyword(s):  
Mobile Robots ◽  
Consensus Problem ◽  
Distributed Consensus

scholarly journals Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
Zhaoxia Peng ◽  
Shichun Yang ◽  
Guoguang Wen ◽  
Ahmed Rahmani
Keyword(s):  
Control Problem ◽  
Mobile Robots ◽  
Formation Control ◽  
Control Strategies ◽  
Reference Trajectory ◽  
Consensus Problem ◽  
Distributed Consensus ◽  
Nonholonomic Mobile Robots ◽  
Robust Adaptive ◽  
Virtual Leader

This paper investigates the distributed consensus-based robust adaptive formation control for nonholonomic mobile robots with partially known dynamics. Firstly, multirobot formation control problem has been converted into a state consensus problem. Secondly, the practical control strategies, which incorporate the distributed kinematic controllers and the robust adaptive torque controllers, are designed for solving the formation control problem. Thirdly, the specified reference trajectory for the geometric centroid of the formation is assumed as the trajectory of a virtual leader, whose information is available to only a subset of the followers. Finally, numerical results are provided to illustrate the effectiveness of the proposed control approaches.

scholarly journals INDIGO: An In Situ Distributed Gossip Framework for Sensor Networks

2015 ◽  
Vol 2015 ◽  
pp. 1-15 ◽  
Author(s):  
Paritosh Ramanan ◽  
Goutham Kamath ◽  
Wen-Zhan Song
Keyword(s):  
Wireless Sensor Networks ◽  
Sensor Networks ◽  
Distributed Algorithms ◽  
Sleep Time ◽  
Wireless Sensor ◽  
Consensus Problem ◽  
Design Development ◽  
Distributed Consensus ◽  
Gossip Algorithms

With the onset of Cyber-Physical Systems (CPS), distributed algorithms on Wireless Sensor Networks (WSNs) have been receiving renewed attention. The distributed consensus problem is a well studied problem having a myriad of applications which can be accomplished using asynchronous distributed gossip algorithms on Wireless Sensor Networks (WSNs). However, a practical realization of gossip algorithms for WSNs is found lacking in the current state of the art. In this paper, we propose the design, development, and analysis of a novel in situ distributed gossip framework called INDIGO. A key aspect of INDIGO is its ability to perform on a generic system platform as well as on a hardware oriented testbed platform in a seamless manner allowing easy portability of existing algorithms. We evaluate the performance of INDIGO with respect to the distributed consensus problem as well as the distributed optimization problem. We also present a data driven analysis of the effect certain operating parameters like sleep time and wait time have on the performance of the framework and empirically attempt to determine asweet spot. The results obtained from various experiments on INDIGO validate its efficacy, reliability, and robustness and demonstrate its utility as a framework for the evaluation and implementation of asynchronous distributed algorithms.

Fastest Distributed Consensus Problem on Fusion of Two Star Sensor Networks

2011 ◽  
Vol 11 (10) ◽  
pp. 2494-2506 ◽  
Author(s):  
Saber Jafarizadeh ◽  
Abbas Jamalipour
Keyword(s):  
Sensor Networks ◽  
Star Sensor ◽  
Consensus Problem ◽  
Distributed Consensus

scholarly journals Distributed Consensus of Semi-Markovian Jumping Multiagent Systems with Mode-Dependent Topologies

2018 ◽  
Vol 2018 ◽  
pp. 1-7
Author(s):  
Yidao Ji
Keyword(s):  
Multiagent Systems ◽  
Sufficient Conditions ◽  
Consensus Problem ◽  
Mean Square ◽  
Sampled Data ◽  
Distributed Consensus ◽  
Consensus Protocol ◽  
Markov Jump ◽  
Markovian Jumping ◽  
Mean Square Stability

This paper investigates the distributed consensus problem of multiagent systems with semi-Markovian jumping dynamics in the mean-square sense. Moreover, the mode-dependent communication topologies and sampled-data consensus protocol over the networks are considered. By semi-Markov jump theory, the consensus problem is first transformed into a mean-square stability problem. Then, sufficient conditions are established with the designed mode-dependent consensus protocol. Finally, a numerical example is provided for verifying the effectiveness of our theoretical results.

scholarly journals Consensus of the Distributed Multiagent System with the Framework of the Small-World Network

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Jinping Mou ◽  
Qinbin He ◽  
Zhile Xia ◽  
Ji Wang
Keyword(s):  
Multiagent System ◽  
Small World ◽  
Consensus Problem ◽  
Small World Network ◽  
Distributed Consensus ◽  
Consensus Protocol ◽  
Numerical Example

This paper investigates the consensus problem of the distributed multiagent system (MAS) with the small-world framework. A distributed consensus protocol is provided for the node-to-node communication. According to an error between every two neighbor agents, several consensus criteria among the agents are obtained firstly. Then, consensus criteria are obtained via the diameter of the graph of the MAS. Finally, based on the small-world framework, the consensus criteria are obtained; also, the relations among the consensus, the diameter of the path in the small-world framework, and the errors of agents are disclosed. Finally, one numerical example shows the reliability of the proposed methods.

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