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asynchronous control

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Kernel Design and Distributed, Self-Triggered Control for Coordination of Autonomous Multi-Agent Configurations
Levi DeVries, Aaron Sims, Michael D. M. Kutzer
Journal:

Robotica / Volume 36 / Issue 7 / July 2018

Published online by Cambridge University Press:

27 March 2018, pp. 1077-1097
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Autonomous multi-agent systems show promise in countless applications, but can be hindered in environments where inter-agent communication is limited. In such cases, this paper considers a scenario where agents communicate intermittently through a cloud server. We derive a graph transformation mapping the kernel of a graph's Laplacian to a desired configuration vector while retaining graph topology characteristics. The transformation facilitates derivation of a self-triggered controller driving agents to prescribed configurations while regulating instances of inter-agent communication. Experimental validation of the theoretical results shows the self-triggered approach drives agents to a desired configuration using fewer control updates than traditional periodic implementations.