DocumentCode
3315086
Title
Solving the rendezvous problem for multi-agent systems using contraction theory
Author
Russo, Giovanni ; Bernardo, Mario Di
Author_Institution
Dept. of Syst. & Comput. Eng., Univ. of Naples, Naples, Italy
fYear
2009
fDate
15-18 Dec. 2009
Firstpage
5821
Lastpage
5826
Abstract
We present a novel strategy based on the use of contraction theory to coordinate motion in multiagent systems. We discuss two possible solutions to the rendezvous problem in planar roving agents by means of both linear and nonlinear communication protocols. Proofs of asymptotic stability are given together with the numerical validation of the theoretical results on a representative example.
Keywords
asymptotic stability; distributed control; multi-agent systems; multi-robot systems; nonlinear control systems; protocols; contraction theory; linear communication protocols; multiagent systems; nonlinear communication protocols; rendezvous problem solving; Asymptotic stability; Distributed algorithms; Extraterrestrial measurements; Multiagent systems; Power grids; Power system interconnection; Protocols; Robot kinematics; Systems engineering and theory; Transmission line matrix methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location
Shanghai
ISSN
0191-2216
Print_ISBN
978-1-4244-3871-6
Electronic_ISBN
0191-2216
Type
conf
DOI
10.1109/CDC.2009.5400731
Filename
5400731
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