A Note on the Consensus Protocol with Some Applications to Agent Orbit Pattern Generation

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/41953

Title: A Note on the Consensus Protocol with Some Applications to Agent Orbit Pattern Generation
Author: Tsiotras, Panagiotis ; Reyes Castro, Luis I.
Abstract: We propose an extension to the standard feedback control for consensus problems for multi-agent systems in the plane. The proposed extension allows for a richer class of trajectories including periodic and quasi-periodic solutions, as well as agreement to consensus states outside the convex hull of the initial positions of the agents. We investigate in great detail the special case of three agents, which results in non-trivial geometric patterns described by ellipsoidal, epitrochoidal and hypotrochoidal curves.
Description: Presented at the 10th Symposium on Distributed Autonomous Robotic Systems (DARS 2010), 1-3 November 2010, Lausanne, Switzerland.
Type: Post-print
Proceedings
URI: http://hdl.handle.net/1853/41953
Citation: Tsiotras, P. and Reyes Castro L. I. (2010). "A Note on the Consensus Protocol with Some Applications to Agent Orbit Pattern Generation''. To appear in Proceedings of the 10th Symposium on Distributed Autonomous Robotic Systems (DARS 2010), 1-3 November 2010.
Date: 2010-11
Contributor: Georgia Institute of Technology. School of Aerospace Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Subject: Agent paths
Consensus protocol
Convex hull
Eigenvalues
Eigenvectors
Ellipsoidal paths
Epitrochoidal paths
Geometric patterns
Hypotrochoidal paths
Orbit pattern
Skew symmetric matrix
Topology
Trajectory

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