Subspace Projectors for State-Constrained Multi-Robot Consensus
2020
In this paper, we study the state-constrained consensus problem and introduce a new family of distributed algorithms based on subspace projection methods which are simple to implement and which preserve, under some suitable conditions, the consensus value of the original discrete-time agreement protocol. The proposed theory is supported by extensive numerical experiments for the constrained 2D rendezvous of single-integrator robots.
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