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Communication Dans Un Congrès Année : 2022

Consensus of Open Multi-agent Systems over Dynamic Undirected Graphs with Preserved Connectivity and Collision Avoidance

Résumé

We address the consensus problem with collision avoidance for multi-agent systems under limited sensing ranges, in the case where new interconnections and agents may be added at any time. The graph topology is represented by a dynamic undirected graph, assumed to be connected only at an initial time, and the open multi-agent system is modeled via a multidimensional impulsive switched representation. We propose a barrier-Lyapunov-function-based consensus control law that guarantees inter-agent collision-avoidance and connectivity maintenance and, relying on the edge-agreement framework, we establish almost-everywhere asymptotic stability of the consensus manifold. The obtained results are also readily applicable to closed multi-agent systems with edge addition. A numerical simulation illustrates the effectiveness of the proposed approach.
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Dates et versions

hal-03788968 , version 1 (27-09-2022)
hal-03788968 , version 2 (20-01-2023)

Identifiants

Citer

Esteban Restrepo, Antonio Loria, Ioanis Sarras, Julien Marzat. Consensus of Open Multi-agent Systems over Dynamic Undirected Graphs with Preserved Connectivity and Collision Avoidance. 61st IEEE Conference on Decision and Control (CDC 2022), Dec 2022, Cancún, Mexico. pp.4609-4614, ⟨10.1109/CDC51059.2022.9993102⟩. ⟨hal-03788968v2⟩
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