The second-order parametric consensus protocol

Author

Morbidi, Fabio

Author_Institution

Networked Controlled Syst. (NeCS) team, Inria Grenoble Rhone-Alpes, Montbonnot Saint Martin, France

fYear

2014

fDate

24-27 June 2014

Firstpage

202

Lastpage

207

Abstract

In this paper we extend the parametric consensus protocol recently introduced by the author, to more realistic agents modeled as double integrators and interacting over an undirected communication network. The stability properties of the new protocol in terms of the real parameter “s” are studied for some relevant graph topologies, and the connection with the notion of bipartite consensus is highlighted. The theory is illustrated with the help of two worked examples, dealing with the coordination of a team of quadrotor UAVs and with cooperative temperature measurement in an indoor environment.

Keywords

autonomous aerial vehicles; graph theory; helicopters; multi-robot systems; network theory (graphs); temperature measurement; agent interaction; bipartite consensus; cooperative temperature measurement; double integrators; graph topologies; indoor environment; quadrotor UAV team coordination; real parameter; second-order parametric consensus protocol; stability properties; undirected communication network; Bipartite graph; Eigenvalues and eigenfunctions; Laplace equations; Protocols; Symmetric matrices; Temperature measurement; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2014 European

Conference_Location

Strasbourg

Print_ISBN

978-3-9524269-1-3

Type

conf

DOI

10.1109/ECC.2014.6862289

Filename

6862289