Multiagent Placement to Spatiotemporal Points: A Finite-Time Distributed Control Protocol over Directed Acyclic Graphs*
Deniz Kurtoglu, Tansel Yucelen, Dzung M. Tran, David W. Casbeer, Eloy García · 2024
Many multiagent system applications necessitate each agent to separately visit a specific location in space at a particular moment in time (i.e., spatiotemporal points). To this end, we propose a finite-time distributed control protocol over directed acyclic graphs that addresses the problem of multiagent placement at spatiotemporal points. In particular, we demonstrate that the proposed protocol can drive the trajectories of agents to their spatiotemporal points at different user-defined times by employing methods ranging from time transformation to input-to-state stability and Lyapunov stability. To show the efficacy of the proposed protocol, we also give two illustrative numerical examples.