A problem of formation control on a line segment under protocols with communication delay

The problem of the equidistant deployment of a group of mobile agents on a line segment is studied. Both cases where agent dynamics is modeled by the first-order integrators and double integrators are considered. It is assumed that each agent receives information from its neighbors not directly, but...

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Bibliographic Details
Published in:Systems & control letters 2021-09, Vol.155, p.104990, Article 104990
Main Author: Aleksandrov, Alexander
Format: Article
Language:English
Subjects:
Asymptotic stability
Communication delay
Equidistant deployment
Multiagent system
Positive system
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Summary:The problem of the equidistant deployment of a group of mobile agents on a line segment is studied. Both cases where agent dynamics is modeled by the first-order integrators and double integrators are considered. It is assumed that each agent receives information from its neighbors not directly, but via an auxiliary agent. The impact of communication delays on the agent deployment is investigated. Conditions are derived ensuring the convergence of agents to the equidistant distribution for any constant nonnegative delays. Efficiency of the obtained results is demonstrated by a numerical simulation. •The problem of the deployment of mobile agents on a line segment is studied under the condition that each agent receives information from its neighbors via an auxiliary agent.•The impact of communication delays is investigated for the cases where agent dynamics is modeled by the first-order integrators and double integrators.•Protocols are proposed providing the convergence of agents to the equidistant distribution for any constant nonnegative delays.
ISSN:0167-6911
1872-7956
DOI:10.1016/j.sysconle.2021.104990