Title :
Decentralized centroid estimation for multi-agent systems in absence of a common reference frame: A convergence analysis
Author :
Franceschelli, Mauro ; Gasparri, Andrea
Author_Institution :
Dept. of Comput. Sci. & Autom., Roma Tre Univ., Rome, Italy
Abstract :
In this paper a novel algorithm for the decentralized estimation of the network centroid for a multi-agent system deployed in a d-dimensional space is presented. It is assumed that the agents are static, do not share a common coordinate system and are only able to estimate relative distance and angle of sight with respect to themselves during pairwise asynchronous communications. It is shown that if the graph representing the network topology is rigid, then the proposed algorithm solves the network centroid estimation problem.
Keywords :
convergence; mobile robots; motion control; multi-agent systems; multi-robot systems; network theory (graphs); remotely operated vehicles; autonomous mobile vehicles; convergence analysis; coordinate system; decentralized centroid estimation; distributed motion coordination algorithm; graph; multiagent system; network topology; pairwise asynchronous communication; Algorithm design and analysis; Convergence; Equations; Estimation; Multiagent systems; Network topology; Vectors;
Conference_Titel :
Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
Conference_Location :
Maui, HI
Print_ISBN :
978-1-4673-2065-8
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2012.6426182
