A Rendezvous Strategy With R2 Reachability for Kinematic Agents

• 成果类型: Article
• 署名作者: De, Souradip; Sahoo, Soumya Ranjan; Wahi, Pankaj
• 署名单位: Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Kanpur; Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Kanpur
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.2980927
• 发表日期: 2021
• 页码: 369-374
• 关键词: CONSENSUS; Distributed control; Graham scan; leaderless rendezvous; reachable set

摘要

In this article, we present a consensus strategy based on cyclic pursuit that ensures rendezvous at any desired point in 2-D space (R-2 reachability) starting with any nonsingular initial configuration of the agents. Choice of a negative gain expands the reachable set beyond the convex hull of the initial configuration of agents. However, the entire R-2 is not reachable in general. We first find the necessary and sufficient condition for the initial configuration of the agents, which ensures R-2 reachability. We show that any desired point can be reached with finite controller gains under basic cyclic pursuit if the initial configuration of agents forms a nonconvex polygon. Next, we employ a control strategy using deviated cyclic pursuit to reach the special configuration mentioned above starting from an arbitrary initial configuration. With a switching between these two strategies we can achieve R-2 reachability with finite gains. We also present an implementation algorithm to realize this strategy including computation of the finite gains.