Computer Science ›› 2024, Vol. 51 ›› Issue (5): 242-249.doi: 10.11896/jsjkx.230300159

• Artificial Intelligence • Previous Articles     Next Articles

Distributed Adaptive Multi-agent Rendezvous Control Based on Average Consensus Protocol

XIE Guangqiang, ZHONG Biwei, LI Yang   

  1. School of Computer Science and Technology,Guangdong University of Technology,Guangzhou 510006,China
  • Received:2023-03-20 Revised:2023-06-14 Online:2024-05-15 Published:2024-05-08
  • About author:XIE Guangqiang,born in 1979,Ph.D,professor,master supervisor,is a member of CCF(No.17290S).His main research interests include multi-agent systems and data mining.
    LI Yang,born in 1980,Ph.D,professor,master supervisor,is a member of CCF(No.23122M).Her main research interests include differential privacy,multi-agent systems and machine lear-ning.
  • Supported by:
    National Natural Science Foundation of China(62006047) and Guangdong Key Areas R&D Program Projects(2021B0101220004).

Abstract: Distributed rendezvous control is an important issue in multi-agent collaborative control.Due to the limited mobility and perception capabilities of agents,traditional distributed rendezvous algorithms are difficult to ensure connectivity,thereby aggregating multiple clusters.In addition,decentralized large-scale rendezvous control poses a huge challenge to obtaining global rendezvous points.For the connectivity protection problem,based on the average consensus protocol and constraint set,a multi-agent rendezvous protocol with connectivity constraints(MARP-CC) is proposed.Then,for the rendezvous point unpredictability problem,location synthesis(LSS) and location redirection(LRS) control strategies are proposed.The agent adaptively selects the optimal control strategy for iteration based on the current connectivity situation.Finally,combining these two control strategies,a distributed adaptive multi-agent rendezvous algorithm with connectivity constraints(DAMAR-CC) is proposed.The conver-gence and connectivity analysis of the algorithm are given,and a large number of simulations show that DAMAR-CC can make agents stably rendezvous at the geometric center of the initial topology.

Key words: Average consensus, Connectivity maintenance, Multi-agent rendezvous, Constraint set

CLC Number: 

  • TP249
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