This paper reviews some main results and progress in distributed multi-agent coordination, focusing on papers published major control systems robotics journals since 2006. Distributed coordination of multiple vehicles, including unmanned aerial ground underwater has been a very active research subject studied extensively by the community. The recent this area are categorized into several directions, such as consensus, formation control, optimization, estimation. After review, short...

A distributed coordinated tracking problem is solved via a variable structure approach when there exists dynamic virtual leader who neighbor of only subset group followers, all followers have local interaction, and partial measurements the states are available. In context tracking, we focus on both consensus swarm algorithms. case first-order kinematics, propose algorithm without velocity under fixed switching network topologies. particular, show that can be achieved in finite time. The then...

This brief studies distributed containment control for double-integrator dynamics in the presence of both stationary and dynamic leaders. In case leaders, we propose a algorithm study conditions on network topology gains to guarantee asymptotic any dimensional space. two cases: leaders with an identical velocity nonidentical velocities. For first case, algorithms solve, respectively, under switching directed finite-time fixed topology. particular, can be achieved space if is only 1-D...

In this paper, time-domain (Lyapunov theorems) and frequency-domain (the Nyquist stability criterion) approaches are used to study leaderless leader-following consensus algorithms with communication input delays under a directed network topology. We consider both the first-order second-order cases present or boundedness conditions. Several interesting phenomena analyzed explained. Simulation results presented support theoretical results.

Laplacian matrices play an important role in linear-consensus algorithms. This paper studies optimal algorithms for multivehicle systems with single-integrator dynamics both continuous-time and discrete-time settings. We propose two global cost functions, namely, interaction-free interaction-related functions. With the function, we derive (nonsymmetric) matrix by using a linear-quadratic-regulator-based method It is shown that corresponds to complete directed graph. In addition, show any...

This paper studies the distributed coordination of networked fractional-order systems over a directed interaction graph. A general model is introduced by summarizing three different cases: 1) agent dynamics with integer-order algorithms; 2) and 3) algorithms. We show sufficient conditions on graph fractional order such that can be achieved using model. The equilibrium also explicitly given. In addition, we characterize relationship between number agents to ensure coordination. Furthermore,...

We present a distributed discontinuous control algorithm for team of agents to track the average multiple time-varying reference signals with bounded derivatives. use tools from nonsmooth analysis analyze stability system. For time-invariant undirected connected network topologies, we prove that states all will converge derivatives in finite time provided gain is properly chosen. The validity this result also established scenarios switching topologies. directed topologies spanning tree, show...

This note studies event-triggered control of Multi-Agent Systems (MAS) with first-order integrator dynamics. It extends previous work on consensus by considering limited communication capabilities through strict peer-to-peer non-continuous information exchange. The approach provides both a decentralised law and policy. Communication events require no global are based only local state errors; agents do not sampling period or synchronous broadcasting as in sampled-data approaches. proposed...

Abstract This paper studies the convergence of two coordination algorithms for double‐integrator dynamics under fixed undirected/ directed interaction in a sampled‐data setting. The first algorithm guarantees that team vehicles achieves on their positions with zero final velocity while second constant velocity. We show necessary and sufficient conditions sampling period, control gain, communication graph such is achieved using these under, respectively, an undirected topology topology. Tools...

In this paper, we study the problem of distributed containment control a group mobile autonomous agents with multiple stationary or dynamic leaders under fixed and switching directed network topologies. case leaders, show necessary sufficient conditions on topology such that all followers will ultimately converge to convex hull formed by for arbitrary initial states in both continuous-time discrete-time settings. particular, when is fixed, final are constant. When switching, might be...

In this article, we study two sampled-data-based discrete-time coordination algorithms for multi-vehicle systems with double-integrator dynamics under dynamic directed interaction. For both algorithms, derive sufficient conditions on the interaction graph, damping gain and sampling period to guarantee by using property of infinity products stochastic matrices. When are satisfied, first algorithm guarantees positions a zero final velocity if graph has spanning tree jointly while second...

This paper presents a survey of the autopilot systems for small fixed-wing unmanned air vehicles (UAVs). The UAV flight control basics are introduced first. radio system and then explained from both hardware software viewpoints. Several typical commercial off-the-shelf packages compared in detail. In addition, some research introduced. Finally, conclusions made with summary current market remark on future development.This development.

Multi-agent systems cooperation to achieve global goals is usually limited by sensing, actuation, and communication issues. At the local level, continuous measurement actuation only approximated use of digital mechanisms that measure process information in order compute update new control input values at discrete time instants. Interaction with other agents or subsystems takes place, general, through a channel bandwidth where transmission continuous-time signals not possible. Additionally,...