Resilient asynchronous rendezvous of second-order agents under communication noise
(2020) 59th Conference on Decision and Control(CDC 2020) — Location: Jeju Island, Republic of Korea (14.December.2020)
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- Abstract
- In this paper, we investigate the problem of rendezvous of second-order agents considering two issues: a) misbehaving agents that make update abnormally and can send arbitrary information to neighbors; b) unknown but bounded communication noise. Both issues can deteriorate the rendezvous performance and even destabilize the systems. We propose a self-triggered resilient rendezvous algorithm, which guarantees that the operation of normal agents is unaffected by the disruption of misbehaving agents and ensures practical rendezvous of normal agents. The position and velocity of normal agents always evolve boundedly, and the agent-to-agent position error converges to be bounded by a value scaling with the magnitude of communication noise. By the proposed algorithm, each agent can sample its neighbors and update its control sporadically and fully asynchronously.
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Citations
Shi, M. (2020). Resilient asynchronous rendezvous of second-order agents under communication noise. 59th Conference on Decision and Control(CDC 2020), Jeju Island, Republic of Korea. https://hdl.handle.net/2078.5/254739