Positional Consensus of Multi-Agent Systems Using Linear Programming Based Decentralized Control with Rectilinear Decision Domain
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- 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
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.
KeywordsMulti-agent Linear programming Consensus Decentralize
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