Abstract
A relay-explorer control method for nonlinear multi-agent systems is developed to allow a relay agent to intermittently provide navigational feedback to an explorer leader. A distributed controller is developed for formation control and leader tracking for the explorer followers, enabling a multi-agent system to explore an unknown environment indefinitely. To compensate for the lack or inability to use navigational sensors, state observers are used to propagate state estimates for the relay and explorer agents (e.g., in GPS-denied regions). Stabilizing dwell-time conditions are determined via a Lyapunov-based switched systems approach to ensure the trajectory tracking errors are globally uniformly ultimately bounded defined by user-defined thresholds. Using the developed approach, a multi-agent system's trajectory tracking error remains bounded, enabling the exploration of GPS-denied regions for a predetermined period of time, before acquiring navigational feedback from a relay agent.
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