Subspace Projectors for State-Constrained Multi-Robot Consensus

Fabio Morbidi

ICRA 2020poster3 citations

Subspace Projectors for State-Constrained Multi-Robot Consensus

Abstract

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.

BibTeX

@inproceedings{icra2020_subspaceprojecto,
  title = {Subspace Projectors for State-Constrained Multi-Robot Consensus},
  author = {Fabio Morbidi},
  booktitle = {ICRA 2020},
  year = {2020}
}