A Note on the Consensus Protocol with Some Applications to Agent Orbit Pattern Generation
Reyes Castro, Luis I.
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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.