Abstract
The focus of this study is a joint analysis of the stability of formation control and the capacity of wireless communications between agents moving in a formation. The main results derived in this study show a connection between the second moment stability/convergence of formation control and the expected capacity of the data communications for multiagent systems in which the collective behavior of the multiple agents is dominated by formation control with random errors. More specifically, by developing a joint control-communication framework for the performance analysis, we investigate whether random errors in the formation control have a destructive influence on the data communications between agents. We prove that the expected capacity of the multiagent data communication link has a nonvanishing lower bound that can be evaluated through second moment performance analysis. The results from simulations indicate that the theoretical analysis provides reasonable lower bounds for different system parameters.
Highlights
M ULTIAGENT systems, such as multiple unmanned aerial vehicles (UAVs) and mobile robots [1], require high-quality interagent control and communication to achieve global objectives through local coordination and collaboration [1]–[10]
1) We develop an analytical framework to jointly investigate the formation-control stability and communication capacity performance of multiagent systems
The framework constructs the formation-control dynamics of multiagent systems based on stochastic differential equations, and evaluates the expected capacity of data communication links via second moment performance analysis incorporating average-consensus analytical methods
Summary
M ULTIAGENT systems, such as multiple unmanned aerial vehicles (UAVs) and mobile robots [1], require high-quality interagent control and communication to achieve global objectives through local coordination and collaboration [1]–[10]. Analyzing the communication capacity of multiagent systems with formation control requires properly modeling the positions of the agents. 1) We develop an analytical framework to jointly investigate the formation-control stability and communication capacity performance of multiagent systems. The framework constructs the formation-control dynamics of multiagent systems based on stochastic differential equations, and evaluates the expected capacity of data communication links via second moment performance analysis incorporating average-consensus analytical methods QIAN et al.: FORMATION-CONTROL STABILITY AND COMMUNICATION CAPACITY OF MULTIAGENT SYSTEMS: A JOINT ANALYSIS where pi ∈ Rm denotes the position of agent i, vi ∈ Rm is its velocity, ui ∈ Rm is the control input to agent i, and i ∈ {1, . The error term σ 0t(G ⊗ BK)dB(s) can be well defined according to the general Itô formula [58, Th. 4.2.1]
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