Distributed consensus on enclosing shapes and minimum time rendezvous

Details Distributed consensus on enclosing shapes and minimum time rendezvous Distributed consensus on enclosing shapes and minimum time rendezvous

2006-09-06

arxiv.org/abs/math/0609169v1

Mathematics

Optimization and Control

This paper is based on the one accepted for CDC 06. It contains all the proofs. 7 pages. 1 figure

Scientific paper

In this paper we introduce the notion of optimization under control and communication constraint in a robotic network. Starting from a general setup, we focus our attention on the problem of achieving rendezvous in minimum time for a network of first order agents with bounded inputs and limited range communication. We propose two dynamic control and communication laws. These laws are based on consensus algorithms for distributed computation of the minimal enclosing ball and orthotope of a set of points. We prove that these control laws converge to the optimal solution of the centralized problem (i.e., when no communication constrains are enforced) as the bound on the control input goes to zero. Moreover, we give a bound for the time complexity of one of the two laws.

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