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

  • Kaushik Das
  • Debasish Ghose
Part of the Communications in Computer and Information Science book series (CCIS, volume 103)


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 


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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

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