2019/03/19 by Molinari, Fabio, Raisch, Joerg
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.1903.07906
This paper presents a consensus-based formation control strategy for autonomous agents moving in the plane with continuous-time single integrator dynamics. In order to save wireless resources (bandwidth, energy, etc), the designed controller exploits the superposition property of the wireless channel. A communication system, which is based on the Wireless Multiple Access Channel (WMAC) model and can deal with the presence of a fading channel is designed. Agents access the channel with simultaneous broadcasts at synchronous update times. A continuous-time controller with discrete-time updates is proposed. A proof of convergence is given and simulations are shown, demonstrating the effectiveness of the suggested approach.