Asynchronous consensus protocols for multi-agent systems

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Motivated by the famous Vicsek's model, this paper addresses the problem of heading consensus for a multiagent group by using asynchronous decentralized algorithms. Two algorithms, one for the leaderless case and one for the leader based case are proposed. The appealing feature of both algorithms is that neither a global coordinate system nor a common clock is required. It is proved that these algorithms guarantee (almost) global consensus of the headings under some well known connectivity assumptions.

Original languageEnglish (US)
Title of host publicationProceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009
Pages955-960
Number of pages6
DOIs
StatePublished - 2009
Event2009 IEEE International Conference on Automation and Logistics, ICAL 2009 - Shenyang, China
Duration: Aug 5 2009Aug 7 2009

Publication series

NameProceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009

Other

Other2009 IEEE International Conference on Automation and Logistics, ICAL 2009
CountryChina
CityShenyang
Period8/5/098/7/09

Keywords

  • Asynchronous algorithms
  • Consensus
  • Decentralized coordination
  • Multi-agent systems

ASJC Scopus subject areas

  • Computational Theory and Mathematics
  • Computer Networks and Communications
  • Computer Vision and Pattern Recognition

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