Constrained Agreement Protocols for Tree Graph Topologies

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Title: Constrained Agreement Protocols for Tree Graph Topologies
Author: Chipalkatty, Rahul ; Egerstedt, Magnus B.
Abstract: This paper presents a novel way of manipulating the initial conditions in the consensus equation such that a constrained agreement problem is solved across a distributed network of agents, particularly for a network represented by a tree graph. The presented method is applied to the problem of coordinating multiple pendula attached to mobile bases. The pendula should move in such a way that their motion is synchronized, which calls for a constrained optimal control problem for each pendulum as well as the constrained agreement problem across the network. Simulation results are presented that support the viability of the proposed approach as well as a hardware demonstration.
Description: This is a preprint of an article submitted for consideration in the International Journal of Control, copyright Taylor & Francis; International Journal of Control is available online at: DOI:10.1080/00207179.2012.656288
Type: Article
ISSN: 0020-7179
Citation: R. Chipalkatty and M. Egerstedt. Constrained Agreement Protocols for Tree Graph Topologies. International Journal of Control, Vol. 85, No. 5, pp. 457-474, May 2012.
Date: 2011-02
Contributor: Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Georgia Institute of Technology. School of Electrical and Computer Engineering
Publisher: Georgia Institute of Technology
Taylor & Francis
Subject: Consensus algorithm
Optimal control
Graph-based multi-agent control
Constrained agreement

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