Distributed circle formation control over directed networks with communication constraints
Peng Xu, Jiayan Wen, Chen Wang, Guangming Xie · IFAC-PapersOnLine · 2019
This paper investigates distributed circle formation problems of multi-agent systems (MAS) subject to limited information communication under a class of weight-unbalanced directed graphs, in which the communication topology contains a directed spanning tree and each agent can only perceive the distances from itself to the nearest neighbor in counterclockwise direction as well as the counterpart in the clockwise direction. Towards this end, a novel algorithm combined with an encoder-decoder framework has been proposed. We show that, under the proposed policy, the resulting network executions can drive the states of all mobile agents to converge to some expected equilibrium point. Numerical simulation results have been given to demonstrate the effectiveness of the proposed algorithm.