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
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;
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
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400731
