Multi-agent coordination via a shared wireless spectrum
Cameron Nowzari · 2017
This paper considers a planar multi-agent coordination problem. Unlike other related works, we explicitly consider a globally shared wireless communication channel where individual agents must choose both a frequency and power to transmit their messages at. This problem is motivated by the pressing need for algorithms that are able to efficiently and reliably operate on overcrowded wireless networks or otherwise poor-performing RF environments. We develop a self-triggered coordination algorithm that guarantees convergence to the desired set of states with probability 1. The algorithm is developed by using ideas from event/self-triggered coordination and allows agents to autonomously decide for themselves when to broadcast information, at which frequency and power, and how to move based on information received from other agents in the network. Simulations illustrate our results.