Distributed control of multi-agent systems with rotating field of view

This paper is concerned with the consensus problem of a multi-agent system consisting of single-integrator agents with limited heterogenous angular fields of view (FOV) in the form of conic areas. It is assumed that the FOVs of all agents rotate with sufficiently large angular velocities (and in same direction), which is controlled along with the translational motion of all agents. Rotation of the FOVs is aimed at increasing the sensing capability of the agents. The translational velocity vectors and the lower bound for the angular velocity of the FOVs are designed in such a way that the agents asymptotically converge to a sufficiently small ball, and reach consensus. Simulations verify the effectiveness of the proposed control strategies.