A Note on the Consensus Protocol with Some Applications to Agent Orbit Pattern Generation

  • Panagiotis Tsiotras
  • Luis Ignacio Reyes Castro
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 83)


We propose an extension to the standard feedback control for consensus problems for multi-agent systems in the plane. The proposed extension allows for a richer class of trajectories including periodic and quasi-periodic solutions, as well as agreement to consensus states outside the convex hull of the initial positions of the agents. We investigate in great detail the special case of three agents, which results in non-trivial geometric patterns described by ellipsoidal, epitrochoidal and hypotrochoidal curves.


Incidence Matrix Consensus Problem Rolling Circle Consensus Protocol Communication Topology 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Panagiotis Tsiotras
    • 1
  • Luis Ignacio Reyes Castro
    • 1
  1. 1.School of Aerospace EngineeringGeorgia Institute of TechnologyAtlantaUSA

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