Hybrid protocols for maintaining connectivity of multiagent systems

Gerardo De La Torre; Tansel Yucelen; Eric N. Johnson

doi:10.1109/CDC.2013.6759981

Hybrid protocols for maintaining connectivity of multiagent systems

Gerardo De La Torre, Tansel Yucelen, Eric N. Johnson

Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Scopus citations

Abstract

This paper focuses on a new connectivity control architecture for networked multiagent systems based on hybrid protocols. Specifically, for a group of agents subject to Δ-disk proximity graphs, we consider the consensus problem while preserving connectedness with a priori given bounds on the control inputs. The bounds on the control inputs are shown not to depend on potential functions or system states. Instead the bounds are user selected continuous functions. By using the proposed framework, we show that the maximum distance among neighboring agents decreases strictly, and hence the connectivity problem is solved while satisfying the consensus objective.

Original language	English (US)
Title of host publication	2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	805-810
Number of pages	6
ISBN (Print)	9781467357173
DOIs	https://doi.org/10.1109/CDC.2013.6759981
State	Published - 2013
Event	52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy Duration: Dec 10 2013 → Dec 13 2013

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	52nd IEEE Conference on Decision and Control, CDC 2013
Country/Territory	Italy
City	Florence
Period	12/10/13 → 12/13/13

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2013.6759981

Cite this

De La Torre, G., Yucelen, T., & Johnson, E. N. (2013). Hybrid protocols for maintaining connectivity of multiagent systems. In 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013 (pp. 805-810). Article 6759981 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2013.6759981

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title = "Hybrid protocols for maintaining connectivity of multiagent systems",

abstract = "This paper focuses on a new connectivity control architecture for networked multiagent systems based on hybrid protocols. Specifically, for a group of agents subject to Δ-disk proximity graphs, we consider the consensus problem while preserving connectedness with a priori given bounds on the control inputs. The bounds on the control inputs are shown not to depend on potential functions or system states. Instead the bounds are user selected continuous functions. By using the proposed framework, we show that the maximum distance among neighboring agents decreases strictly, and hence the connectivity problem is solved while satisfying the consensus objective.",

author = "{De La Torre}, Gerardo and Tansel Yucelen and Johnson, {Eric N.}",

year = "2013",

doi = "10.1109/CDC.2013.6759981",

language = "English (US)",

isbn = "9781467357173",

series = "Proceedings of the IEEE Conference on Decision and Control",

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De La Torre, G, Yucelen, T & Johnson, EN 2013, Hybrid protocols for maintaining connectivity of multiagent systems. in 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013., 6759981, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 805-810, 52nd IEEE Conference on Decision and Control, CDC 2013, Florence, Italy, 12/10/13. https://doi.org/10.1109/CDC.2013.6759981

Hybrid protocols for maintaining connectivity of multiagent systems. / De La Torre, Gerardo; Yucelen, Tansel; Johnson, Eric N.
2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013. Institute of Electrical and Electronics Engineers Inc., 2013. p. 805-810 6759981 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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T1 - Hybrid protocols for maintaining connectivity of multiagent systems

AU - De La Torre, Gerardo

AU - Yucelen, Tansel

AU - Johnson, Eric N.

PY - 2013

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N2 - This paper focuses on a new connectivity control architecture for networked multiagent systems based on hybrid protocols. Specifically, for a group of agents subject to Δ-disk proximity graphs, we consider the consensus problem while preserving connectedness with a priori given bounds on the control inputs. The bounds on the control inputs are shown not to depend on potential functions or system states. Instead the bounds are user selected continuous functions. By using the proposed framework, we show that the maximum distance among neighboring agents decreases strictly, and hence the connectivity problem is solved while satisfying the consensus objective.

AB - This paper focuses on a new connectivity control architecture for networked multiagent systems based on hybrid protocols. Specifically, for a group of agents subject to Δ-disk proximity graphs, we consider the consensus problem while preserving connectedness with a priori given bounds on the control inputs. The bounds on the control inputs are shown not to depend on potential functions or system states. Instead the bounds are user selected continuous functions. By using the proposed framework, we show that the maximum distance among neighboring agents decreases strictly, and hence the connectivity problem is solved while satisfying the consensus objective.

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BT - 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 52nd IEEE Conference on Decision and Control, CDC 2013

Y2 - 10 December 2013 through 13 December 2013

ER -

Hybrid protocols for maintaining connectivity of multiagent systems

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