The problem of coordination and consensus achievement in groups of autonomous mobile robots with limited communication

摘要

The paper considers a consensus seeking problem for a multirobot system with limited communication. Multirobot systems with limited communication are modelled as hybrid dynamical systems. The proposed model is a modification of some mathematical models introduced in physics and biology. We derive a necessary and sufficient condition for the system to converge to a single value of the coordination variable with probability 1. (c) 2006 Published by Elsevier Ltd.