The paper deals with the consensus problem in a leaderless network of agents that have to reach a common velocity while forming a uniformly spaced string. Moreover, the final common velocity (reference velocity) is determined by the agents in a distributed and leaderless way. Then, the consensus protocol parameters are optimized for networks characterized by a communication topology described by a class of directed graphs having a directed spanning tree, in order to maximize the convergence rate and avoid oscillations. The advantages of the optimized consensus protocol are enlightened by some simulation results and comparison with a protocol proposed in the related literature. The presented protocol can be applied to coordinate agents such as mobile robots, automated guided vehicles (AGVs) and autonomous vehicles that have to move with the same velocity and a common inter-space gap.

Gianvito Difilippo;Maria Pia Fanti;Agostino Marcello Mangini

Department of Electrical and Information Engineering,Polytechnic University of Bari,Bari 70125,Italy

自动化学报（英文版）

[1]Gianvito Difilippo;Maria Pia Fanti;Agostino Marcello Mangini-.Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems)[J].自动化学报（英文版）,2022(02):259-269

Leaderless,leaderless,AGVs

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