Consensus Algorithm for Swarm Robotics Cooperative Control
A critical problem for swarm robotics cooperative control is to determine appropriate consensus algorithms so that a group of robots can reach consensus on the values of coordination data. In this paper, we defined the Information Interactive Graph ( IIG ) and the Information Interactive Matrix ( IIM ) to represent the information interaction relationship between each robot based on algebra graph theroy. Proofed the necessary and/or sufficient conditions for consensus and presented some consensus algorithms under static topology. Finally, simulation results showed that our algorithm can make a swarm of robots reach a consensus on the shared coordination data.
Daoguo Yang, Tianlong Gu, Huaiying Zhou, Jianmin Zeng and Zhengyi Jiang
B. Lei and L. C. Zeng, "Consensus Algorithm for Swarm Robotics Cooperative Control", Advanced Materials Research, Vols. 201-203, pp. 1854-1857, 2011