Time Optimal Consensus Tracking for Kinematic Points in a Plane
Aditya Chaudhari, Debraj Chakraborty · 2018
This paper addresses the issue of time optimality in consensus tracking problems for a group of agents with bounded inputs, moving in a plane. A special agent called “leader” autonomously generates a trajectory and all the agents are required to converge onto this leader trajectory in minimum possible time. Any two agents can communicate with each other only if they are within a fixed distance of each other. Time optimal pursuit evasion policies are used to derive local feedback laws for each agent. The local feedback laws achieve global minmax time consensus tracking when the information graph is a spanning tree. Further, given any initial communication graph, we propose a decentralized algorithm to find a spanning tree, which gives the least min-max time to consensus.