Decentralized centroid estimation for multi-agent systems in absence of a common reference frame: A convergence analysis

2012 ◽  
Author(s):  
Mauro Franceschelli ◽  
Andrea Gasparri
Keyword(s):  
Convergence Analysis ◽  
Reference Frame ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Common Reference ◽  
Centroid Estimation ◽  
Multi Agent

Adaptive Control of Multi-Agent Systems for Finding Peaks of Unknown Fields

2010 ◽  
Author(s):  
Mahdi Jadaliha ◽  
Joonho Lee ◽  
Jongeun Choi
Keyword(s):  
Adaptive Control ◽  
Convergence Analysis ◽  
Simulation Study ◽  
Sampling Scheme ◽  
Multi Agent Systems ◽  
Convergence Properties ◽  
Agent Systems ◽  
Gradient Ascent ◽  
Control Framework ◽  
Multi Agent

In this paper, we consider a deterministic adaptive control framework to design and analyze a class of multi-agent systems that locate peaks of unknown static fields in a distributed and scalable manner. Each agent is driven by swarming and gradient ascent efforts based on its own recursively estimated field via locally collected measurements by itself and its neighboring agents. The convergence properties of the proposed multi-agent systems are analyzed. We also provide a sampling scheme to facilitate the convergence. The simulation study confirms the convergence analysis of the proposed algorithms.

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