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arXiv · 2504.03125

Event-Based Distributed Linear Quadratic Gaussian for Multi-Robot Coordination with Localization Uncertainty

Tohid Kargar Tasooji·Sakineh Khodadadi
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Abstract

This paper addresses the problem of event-based distributed Linear Quadratic Gaussian (LQG) control for multirobot coordination under localization uncertainty. An event-triggered LQG rendezvous control strategy is proposed to ensure coordinated motion while reducing communication overhead. The design framework decouples the LQG controller from the event-triggering mechanism, although the scheduler parameters critically influence rendezvous performance. We establish stochastic stability for the closed-loop multi-robot system and demonstrate that a carefully tuned event-triggering scheduler can effectively balance rendezvous accuracy with communication efficiency by limiting the upper bound of the rendezvous error while minimizing the average transmission rate. Experimental results using a group of Robotarium mobile robots validate the proposed approach, confirming its efficacy in achieving robust coordination under uncertainty.

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BibTeXRIS

Tohid Kargar Tasooji, Sakineh Khodadadi. 2025-03-28. Event-Based Distributed Linear Quadratic Gaussian for Multi-Robot Coordination with Localization Uncertainty. https://arxiv.org/abs/2504.03125

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