Distributed circle formation control over directed networks with communication constraints

Xu, Peng; Wen, Jiayan; Wang, Chen; Xie, Guangming

doi:10.1016/j.ifacol.2019.06.019

Cited by 9 publications

(15 citation statements)

References 13 publications

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“…By utilizing sampled data instead of continuous data, a periodic event-based control framework was proposed for designing consensus protocols [18]. [19] addressed the circular formation problems with limited communication bandwidth using an encoder-decoder strategy. [20] further considered the scenario when the agents are under communication and computation constraints.…”

Section: Introductionmentioning

confidence: 99%

“…[20] further considered the scenario when the agents are under communication and computation constraints. Note that in [19], [20], all the robots were restricted to move in the 1-D space of a circle. For secondorder MRSs, a distributed event-triggered control algorithm was proposed to reach consensus [21].…”

Section: Introductionmentioning

confidence: 99%

“…For promoting the more general formation framework to establish, [31] studied a general formation problem for a group of mobile robots in a plane, in which the robots are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. Moreover, event-triggered control has been widely applied to control the movement of robots in one-dimensional (1-D) space [19]- [22], [32]. However, few studies have been conducted for circular formation via event-triggered control in 2-D space, i.e., in the plane.…”

Section: Introductionmentioning

confidence: 99%

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Distributed Event-Triggered Circular Formation Control for Multiple Anonymous Mobile Robots With Order Preservation and Obstacle Avoidance

Jin

et al. 2020

IEEE Access

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This paper investigates circular formation control problems for a group of anonymous mobile robots in the plane, where all robots can converge asymptotically to a predefined circular orbit around a fixed target point without collision, and maintain any desired relative distances from their neighbors. Given the limited resources for communication and computation of robots, a distributed event-triggered method is firstly designed to reduce dependence on resources in multi-robot systems, where the controller's action is determined by whether the norm of the event-trigger function exceeds zero through continuous sampling. And then, to further minimize communications costs, a self-triggered strategy is proposed, which only uses discrete states sampled and sent by neighboring robots at their event instants. Furthermore, for the two proposed control laws, a Lyapunov functional is constructed, which allows sufficient stability conditions to be obtained on the circular formation for multi-robot systems. And at the same time, the controllers are proved to exclude Zeno behavior. At last, numerical simulation of controlling uniform and non-uniform circular formations by two control methods are conducted. Simulation results show that the designed controller can control all mobile robots to form either a uniform circular formation or a non-uniform circular formation while maintaining any desired relative distances between robots and guaranteeing that there is no collision during the whole evolution. One of the essential features of the proposed control methods is that they reduce the update rates of controllers and the communication frequency between robots. And also, the spatial order of robots is also preserved throughout the evaluation of the system without collision.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Distributed Event-Triggered Circular Formation Control for Multiple Anonymous Mobile Robots With Order Preservation and Obstacle Avoidance

Jin

et al. 2020

IEEE Access

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“…Further, Wen et al [22] combined event-triggered protocols to solve circle formation problems of first-order MASs. Also, Wen et al and Xu et al [23,24] have investigated a combination algorithm based on quantized communication technology, where the problem of MASs with a limitation of communication was addressed. Given the above reviews, it is noteworthy to mention that most of the existing results on event-triggered control are to prevent the case of Zeno behavior [25,26], so that within a finite time interval, an infinite number of samplings generate.…”

Section: Introductionmentioning

confidence: 99%

Observer-Based Event-Triggered Circle Formation Control for First- and Second-Order Multiagent Systems

Xie

Jin

et al. 2020

Complexity

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This paper proposes an observer-based event-triggered algorithm to solve circle formation control problems for both first- and second-order multiagent systems, where the communication topology is modeled by a spanning tree-based directed graph with limited resources. In particular, the observation-based event-triggering mechanism is used to reduce the update frequency of the controller, and the triggering time depends on the norm of the state function and the trigger threshold of measurement errors. The analysis shows that sufficient conditions are established for achieving the desired circle formation, while there exists at least one agent for which the next interevent interval is strictly positive. Numerical simulations of both first- and second-order multiagent systems are also given to demonstrate the effectiveness of the proposed control laws.

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“…In [12], protocols combined with state-dependent event-triggered was proposed to solve the circle formation problem for first-order MASs, the framework of which enables the event-triggered condition to rule out Zeno behavior automatically. In [27], encoder-decoder strategies were used to achieve circle formation asymptotically with a finite-level uniform quantization, where the quantizer is not saturated in bounded communication as the number of agents increases. Moreover, based on [27], in order to address the problem circle formation problem for MASs with a limitation of communication, [13] investigated an innovative algorithm that relies on the combination of quantitative communication techniques and event-triggered control.…”

Section: Introductionmentioning

confidence: 99%

Pull-Based Distributed Event-Triggered Circle Formation Control for Multi-Agent Systems with Directed Topologies

Zhao

Xie

et al. 2019

Applied Sciences

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This paper investigates a circle formation control problem for multi-agent systems with directed topologies via pull-based distributed event-triggered control principles. Firstly, for scenarios of continuous communication, a pull-based distributed event-triggered principle is proposed. It is proved that if the communication topology is irreducible and has a directed spanning tree, the event-triggered coupling continuous communication can lead multiple agents to form a desired circle formation. Then, the results are extended to discontinuous communication scenarios, where all the agents use a model of their neighborhoods to generate self-triggered instants without monitoring continuously, update the local controller here, and if necessary, local broadcast information based on the adopted control inputs to neighboring agents. In addition, Zeno behavior can be excluded during the whole process. Finally, numerical simulation results are given to demonstrate the effectiveness of the proposed circle formation control methods.

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Distributed circle formation control over directed networks with communication constraints

Cited by 9 publications

References 13 publications

Distributed Event-Triggered Circular Formation Control for Multiple Anonymous Mobile Robots With Order Preservation and Obstacle Avoidance

Distributed Event-Triggered Circular Formation Control for Multiple Anonymous Mobile Robots With Order Preservation and Obstacle Avoidance

Observer-Based Event-Triggered Circle Formation Control for First- and Second-Order Multiagent Systems

Pull-Based Distributed Event-Triggered Circle Formation Control for Multi-Agent Systems with Directed Topologies

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