Consensus Building in Multi-vehicle Systems with Information Feedback

In this paper, we study the problem of consensus building in multi-vehicle systems with information feedback. We show how information feedback can be incorporated into the consensus building process so as to improve the robustness and situational awareness of the whole team. We detail the strategies of introducing feedback to the consensus building process through information flow, external feedback terms, state-dependent weighting factors, and reference states. Application examples are also given to illustrate the information feedback strategies