Positional Consensus of Multi-Agent Systems Using Linear Programming Based Decentralized Control with Rectilinear Decision Domain

  • Kaushik Das
  • Debasish Ghose
Conference paper

DOI: 10.1007/978-3-642-15810-0_23

Volume 103 of the book series Communications in Computer and Information Science (CCIS)
Cite this paper as:
Das K., Ghose D. (2010) Positional Consensus of Multi-Agent Systems Using Linear Programming Based Decentralized Control with Rectilinear Decision Domain. In: Vadakkepat P. et al. (eds) Trends in Intelligent Robotics. FIRA 2010. Communications in Computer and Information Science, vol 103. Springer, Berlin, Heidelberg

Abstract

In this paper we develop a Linear Programming (LP) based decentralized algorithm for a group of multiple autonomous agents to achieve positional consensus. Each agent is capable of exchanging information about its position and orientation with other agents within their sensing region. The method is computationally feasible and easy to implement. Analytical results are presented. The effectiveness of the approach is illustrated with simulation results.

Keywords

Multi-agent Linear programming Consensus Decentralize 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Kaushik Das
    • 1
  • Debasish Ghose
    • 1
  1. 1.GCDSL, Dept. of AEIndian Institute of ScienceBangaloreIndia