Dynamic Consensus on Mobile Networks
| Authors: | Spanos Demetri, California Institute of Technology, United States
Olfati-Saber Reza, University of California, Los Angeles, United States
Murray Richard M., California Institute of Techonlogy, United States |
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| Topic: | 7.5 Intelligent Autonomous Vehicles |
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| Session: | Multiple Vehicles II |
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| Keywords: | Agents, Decentralized Control, Decentralized Systems, Graph Theoretic Models, Mobile Robots |
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Abstract
This work examines several dynamical aspects of average consensusin mobile networks. The results herein allow consensus on generaltime-varying signals, and allow tracking analysis using standardfrequency-domain techniques. Further, the frequency-domainanalysis naturally inspires a robust small-gain version of thealgorithm, which tolerates arbitrary non-uniform time delays.Finally, we show how to exploit a dynamical conservation propertyin order to ensure consensus tracking despite splitting andmerging of the underlying mobile network.
