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    Set-Valued Protocols for Almost Consensus of Multiagent Systems with Uncertain Interagent Communication

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    Date
    2014-06
    Author
    Sadikhov, Teymur
    Haddad, Wassim M.
    Goebel, Rafal
    Egerstedt, Magnus
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    Abstract
    One of the main challenges in robotics applications is dealing with inaccurate sensor data. Specifically, for a group of mobile robots the measurement of the exact location of the other robots relative to a particular robot is often inaccurate due to sensor uncertainty or detrimental environmental conditions. In this paper, we address the consensus problem for a group of agent robots with uncertain interagent communication. Measurement uncertainty is characterized by balls of radius r centered at the neighboring agents exact locations. We show that the agents reach an almost consensus state and converge to a time-varying ball of radius r and include an analysis approach to the problem based on set-valued analysis. Finally, several illustrative numerical examples are provided to demonstrate the efficacy of the proposed set-valued consensus protocol framework.
    URI
    http://hdl.handle.net/1853/52388
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    • Georgia Robotics and InTelligent Systems Laboratory (GRITS) [230]
    • Georgia Robotics and InTelligent Systems Laboratory (GRITS) Publications [230]

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