On quantization and communication topologies in multi-vehicle rendezvous
| Authors: | Johansson Karl Henrik, Royal Institute of Technology, Sweden
Speranzon Alberto, Royal Institute of Technology, Sweden
Zampieri Sandro, University of Padova, Italy |
|---|
| Topic: | 7.5 Intelligent Autonomous Vehicles |
|---|
| Session: | Multiple Vehicles II |
|---|
| Keywords: | Control under limited communication, Quantized control, Multi-vehicle coordination, Distributed control, Hybrid systems. |
|---|
Abstract
A rendezvous problem for a team of autonomous vehicles that is communicating through quantized channels is considered. Communication topologies and feedback control law are presented that solves the rendezvous problem in the sense that a meeting point for the vehicles is practically stabilized. In particular, it is shown that uniform quantizers can sometimes be replaced by logarithmic quantizers and thusreduce the need for communication bandwidth.
