2024/03/21 by Michael Epp, Epp, Michael, Fabio Molinari +3 · 1 citation
Computer Science · #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #Mobile Agent-Based Network Management #Robotic Path Planning Algorithms #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2403.14386
openalex publication_date 2024/03/21 · openalex created_date 2024/03/24 · openalex updated_date 2026/07/28
This paper introduces a distributed control method for multi-agent robotic systems employing Over the Air Consensus (OtA-Consensus). Designed for agents with decoupled single-integrator dynamics, this approach aims at efficient formation achievement and collision avoidance. As a distinctive feature, it leverages OtA's ability to exploit interference in wireless channels, a property traditionally considered a drawback, thus enhancing communication efficiency among robots. An analytical proof of asymptotic convergence is established for systems with time-varying communication topologies represented by sequences of strongly connected directed graphs. Comparative evaluations demonstrate significant efficiency improvements over current state-of-the-art methods, especially in scenarios with a large number of agents.