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Distributed formation control using robust asynchronous and broadcast-based optimization schemes
University of Padova, Padova, Italy.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-4310-7938
University of Padova, Padova, Italy.
2018 (English)In: IFAC-PapersOnLine, E-ISSN 2405-8963, Vol. 51, no 23, p. 385-390Article in journal (Refereed) Published
Abstract [en]

We consider the problem of letting a network of mobile agents distributedly track and maintain a formation while using communication schemes that are asynchronous, broadcasts based, and prone to packet losses. To this purpose we revisit and modify an existing distributed optimization algorithm that corresponds to a distributed version of the Newton Raphson (NR) algorithm. The proposed scheme uses then robust asynchronous ratio consensus algorithms as building blocks, and employs opportune definitions for the local cost functions to achieve the desired coordination objective. In our algorithm, indeed, we code the position of the to-be-followed target as the minimum of a shared global cost, and capture the desired inter-robots behaviors through dedicated distances-based potential barriers. We then check the effectiveness of the strategy using field tests, and verify that the scheme achieves the desired goal of introducing robustness to changes in the agents positions due to unexpected disturbances. More precisely, if an agent breaks the formation, then the update mechanism embedded in our scheme make that agent move back to a meaningful position as soon as some packets are successfully received by the misplaced agent. 

Place, publisher, year, edition, pages
Elsevier, 2018. Vol. 51, no 23, p. 385-390
Keywords [en]
Newton Raphson Consensus, packet losses, target tracking
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-72431DOI: 10.1016/j.ifacol.2018.12.066Scopus ID: 2-s2.0-85058443288OAI: oai:DiVA.org:ltu-72431DiVA, id: diva2:1274872
Note

Konferensartikel i tidskrift

Available from: 2019-01-03 Created: 2019-01-03 Last updated: 2019-04-23Bibliographically approved

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Varagnolo, Damiano

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CiteExportLink to record
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  • apa
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  • de-DE
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Output format
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