Multi-agent consensus under a communication–broadcast mixed environment

Shun-ichi Azuma, Yosuke Tanaka, Toshiharu Sugie
2014 International Journal of Control  
This paper addresses multi-agent control under an environment where both agent-to-agent communication and one-to-all broadcast are available. The problem studied here is a consensus problem for a pre-specified location, i.e. collecting the agents at a desired location in an n-dimensional space, with a limited communication range and an unlimited broadcast range, which is a nice example to be solved under the mixed environment. For solving this, we first introduce a concept of the connected
more » ... the connected agent group. Using this notion, the problem is reduced to a consensus problem for the group-to-group relation and that for the agent-to-agent relation in the groups, from which we derive a controller achieving the consensus with probability 1. Finally, the performance of the proposed controller is demonstrated by numerical simulation.
doi:10.1080/00207179.2013.868608 fatcat:bxnaqph42zhznndfd32e2hkjcy