In this paper, a convergent, nearest-neighbor, control protocol is suggested for agents with nontrivial dynamics. The protocol guarantees convergence to a common point in space even if each agent is restricted to communicate with a single nearest neighbor. The neighbor, however, is required to lie outside an arbitrarily small priority zone surrounding the agent. The control protocol consists of two layers interconnected in a provably correct manner. The first layer provides the guidance signal to a rendezvous point assuming that the agents have first-order dynamics. The other layer converts in a decentralized manner the guidance signal to a control signal that suits realistic agents, such as unmanned ground vehicles (UGVs), unmanned aerial vehicles (UAVs), and holonomic agents with second-order dynamics.
Nearest Neighbor-Based Rendezvous for Sparsely Connected Mobile Agents
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received March 12, 2015; final manuscript received August 4, 2015; published online September 2, 2015. Assoc. Editor: Jongeun Choi.
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Masoud, A. A. (September 2, 2015). "Nearest Neighbor-Based Rendezvous for Sparsely Connected Mobile Agents." ASME. J. Dyn. Sys., Meas., Control. December 2015; 137(12): 121002. https://doi.org/10.1115/1.4031248
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