Consensus Building in Multi-vehicle Systems with Information Feedback

Author

Ren, Wei

Author_Institution

Dept. of Electr. & Comput. Eng., Utah State Univ., Logan, UT

fYear

2006

fDate

25-28 June 2006

Firstpage

37

Lastpage

42

Abstract

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

Keywords

cooperative systems; multi-robot systems; remotely operated vehicles; consensus building process; information feedback; information flow; multi-vehicle systems; reference states; state-dependent weighting factors; Automation; Control systems; Mechatronics; Mobile robots; Monitoring; Remotely operated vehicles; Robustness; State feedback; Tree graphs; USA Councils; Consensus building; Cooperative control; Multi-vehicle systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Conference_Location

Luoyang, Henan

Print_ISBN

1-4244-0465-7

Electronic_ISBN

1-4244-0466-5

Type

conf

DOI

10.1109/ICMA.2006.257431

Filename

4026052