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Communication Dans Un Congrès Année : 2020

Subspace Projectors for State-Constrained Multi-Robot Consensus

Résumé

In this paper, we study the state-constrained consensus problem and introduce a new family of distributed algorithms based on subspace projection methods which are simple to implement and which preserve, under some suitable conditions, the consensus value of the original discrete-time agreement protocol. The proposed theory is supported by extensive numerical experiments for the constrained 2D rendezvous of single-integrator robots.
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Dates et versions

hal-02877294 , version 1 (22-06-2020)

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  • HAL Id : hal-02877294 , version 1

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Fabio Morbidi. Subspace Projectors for State-Constrained Multi-Robot Consensus. IEEE International Conference on Robotics and Automation, May 2020, Paris, France. ⟨hal-02877294⟩
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