Trends in Intelligent Robotics

Volume 103 of the series Communications in Computer and Information Science pp 178-185

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

  • Kaushik DasAffiliated withGCDSL, Dept. of AE, Indian Institute of Science
  • , Debasish GhoseAffiliated withGCDSL, Dept. of AE, Indian Institute of Science

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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.


Multi-agent Linear programming Consensus Decentralize