Model-Based Event-Triggered Multi-Vehicle Coordinated Tracking with Communication Delays
Eloy García, Yongcan Cao, David W. Casbeer · 2013
Abstract : This report studies the coordinated tracking problem where a group of followers intercepts a dynamic leader. It is shown in this paper that reduction of inter-agent communication is obtained and improved performance is achieved by implementing dynamical models of the leader and followers and by using an event-triggered control strategy that requires each agent to send measurement updates only when necessary. Communication delays are considered in this work and it is shown how the model-based approach can be used for time propagation of delayed measurements to obtain estimates of current positions of other agents in the network. Performance bounds on the tracking error have been obtained, which are functions of the communication topology, the event thresholds, and the time delays.