Responsible Eigenvalue concept for consensus control of three robotic vehicles: Heterogeneous coupling case

Three robotic vehicles are controlled on an x-y plane by sending them commands from a host computer via a Bluetooth connection, while capturing their positions with a camera/software system. The control loop delays are substantial, and are artificially added to mimic a long-distance control scenario. Our Responsible Eigenvalue concept and analytical rightmost root analysis approach are used to design heterogeneous couplings for the robots, to both achieve consensus and to reduce consensus reach time. Implementation of the couplings in experiments demonstrate that there is a good match with simulations.