Information consensus in distributed multiple vehicle coordinated control

Cooperation in multiple vehicle teams requires information to be shared between team members. If shared information is not synchronized across the team, then cooperation is adversely affected. This paper considers the problem of information consensus in multiple agent teams. We define notions of asymptotic consensus and show that a team of agents can be asymptotically brought into consensus if and only if the associated communication topology admits a spanning tree. A linear consensus strategy is proposed and demonstrated via several simulation examples.