Multi-Agent Rendezvous Problem with Preserving Topology Connectivity
Jiahe Tian · Proceedings of the 2018 International Conference on Network, Communication, Computer Engineering (NCCE 2018) · 2018
This paper studies a distributed multi-agent rendezvous problem that preserves topology connectivity.Based on the constraint function, the agent's own and its neighbor's current time and last time's condition are used as conditions to judge the agent's movement trend and connectivity quality in the system.After that, the evaluation result is used as one of the basis for adjusting the input of the agent control so as to achieve the purpose of preserving the topology connectivity.Finally, taking the 50 agents distributed uniformly on the plane as an example, the simulation results and performance analysis are given.The results show that under this strategy, the multi-agent system can achieve gradual rendezvous at the same point.