This paper proposes two algorithms, namely "back-tracking" and "history following", to reach consensus in case of communication loss for a network of distributed agents with switching topologies. To reach consensus in distributed control, considered communication topology forms a strongly connected graph. The graph is no more strongly connected whenever an agent loses communication.Whenever an agent loses communication, the topology is no more strongly connected. The proposed back-tracking algorithm makes sure that the agent backtracks its position unless the communication is reestablished, and path is changed to reach consensus. In history following, the agents use their memory and move towards previous consensus point until the communication is regained. Upon regaining communication, a new consensus point is calculated depending on the current positions of the agents and they change their trajectories accordingly. Simulation results, for a network of six agents, show that when the agents follow the previous history, the average consensus time is less than that of back-tracking. However, situation may arise in history following where a false notion of reaching consensus makes one of the agents stop at a point near to the actual consensus point. An obstacle avoidance algorithm is integrated with the proposed algorithms to avoid collisions. Hardware implementation for a three robots system shows the effectiveness of the algorithms.
翻译:本文提出两种算法, 即“ 回溯跟踪” 和“ 历史跟踪 ”, 以便在通信损失的情况下, 形成共识, 用于使用分布式控件的分布式代理器网络的通信损失 。 为了在分布式控件中达成共识, 考虑的通信地形将形成一个紧密连接的图形 。 当一个代理器失去通信时, 图形没有更紧密的连接 。 当一个代理器失去通信时, 地形就不会有更紧密的联系 。 提议的回溯式算法确保代理器在通信重新建立之前, 并改变路径以达成共识。 在历史中, 代理器使用他们的记忆, 并移动到先前的共识点, 直到通信恢复。 在重新获得通信时, 将计算出一个新的共识点, 取决于该代理器当前的位置, 并相应改变其轨迹。 模拟结果显示, 6个代理器的网络, 平均的协商一致时间比回溯跟踪的时间要少。 但是, 历史中可能会出现这样的情况, 即错误的达成共识的概念使代理器在接近实际的共识点上停止。 。 在重新恢复通信后, 重新定位时, 障碍的算法中, 避免 。