Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 51, Issue 8, Pages 1289-1298Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2006.878713
Keywords
cooperative control; distributed coordination algorithms; nondeterministic dynamical systems; proximity graphs; rendezvous; robustness
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This paper presents coordination algorithms for networks of mobile autonomous agents. The objective of the proposed algorithms is to achieve rendezvous, that is, agreement over the location of the agents in the network. We provide analysis and design results for multiagent networks in arbitrary dimensions under weak requirements on the switching and failing communication topology. The novel correctness proof relies on proximity graphs and their properties and on a general LaSalle invariance principle for nondeterministic discrete-time dynamical systems.
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