Title :
Robust rendezvous for mobile autonomous agents via proximity graphs in arbitrary dimensions
Author :
Cortés, Jorge ; Martínez, Sonia ; Bullo, Francesco
Author_Institution :
Dept. of Appl. Math. & Stat., California Univ., Santa Cruz, CA
Abstract :
This paper presents coordination algorithms for networks of mobile autonomous agents. The objective of the proposed algorithms is to achieve rendezvous, that is, agreement over the location of the agents in the network. We provide analysis and design results for multiagent networks in arbitrary dimensions under weak requirements on the switching and failing communication topology. The novel correctness proof relies on proximity graphs and their properties and on a general LaSalle invariance principle for nondeterministic discrete-time dynamical systems
Keywords :
discrete time systems; mobile agents; mobile robots; motion control; multi-robot systems; robust control; time-varying systems; topology; arbitrary dimensions; communication topology; mobile autonomous agents; multiagent networks; nondeterministic discrete-time dynamical systems; proximity graphs; robotic agents; robust rendezvous; Ad hoc networks; Algorithm design and analysis; Autonomous agents; Communication switching; Communication system control; Mobile communication; Motion control; Network topology; Robust control; Robustness; Cooperative control; distributed coordination algorithms; nondeterministic dynamical systems; proximity graphs; rendezvous; robustness;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2006.878713
