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arXiv · 2403.14386

Exploiting Over-The-Air Consensus for Collision Avoidance and Formation Control in Multi-Agent Systems

Michael Epp·Fabio Molinari·Joerg Raisch
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Abstract

This paper introduces a distributed control method for multi-agent robotic systems employing Over the Air Consensus (OtA-Consensus). Designed for agents with decoupled single-integrator dynamics, this approach aims at efficient formation achievement and collision avoidance. As a distinctive feature, it leverages OtA's ability to exploit interference in wireless channels, a property traditionally considered a drawback, thus enhancing communication efficiency among robots. An analytical proof of asymptotic convergence is established for systems with time-varying communication topologies represented by sequences of strongly connected directed graphs. Comparative evaluations demonstrate significant efficiency improvements over current state-of-the-art methods, especially in scenarios with a large number of agents.

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Michael Epp, Fabio Molinari, Joerg Raisch. 2024-03-21. Exploiting Over-The-Air Consensus for Collision Avoidance and Formation Control in Multi-Agent Systems. https://doi.org/10.1109/cdc56724.2024.10886580

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