An approach to switching control beyond nearest neighbor rules
Brian Shucker, Todd D. Murphey, John K. Bennett · 2006
Current approaches to distributed control involving many robots generally restrict interactions to pairs of robots within a threshold distance. While this allows for provable stability, there are performance costs associated with the lack of long-distance information. We introduce the acute angle switching algorithm, which allows a small number of long-range interactions in addition to interactions with nearby neighbors. We show that the acute angle switching algorithm provides an improvement in performance while retaining the quality of provable stability