Consensus of Multi-agent Systems
- Multi-agent systems deals with consensus problem with communication delays and loss of communication with respect to switching topologies.
- For simulation purpose we have considered a six-agent system and for implementation we are considering three-robot system.
- The goal of the research is to make the agents agree on position and velocity with the mean value of all the robots with switching communication topologies.
Tracking a Moving Target in a Cluttered Dynamic Environment
- In most real indoor environment, the motion space is not free from obstacles.
- The robot has to track a moving agent in minimum possible time keeping in consideration the changing dynamics of the environment.
- A control law achieves a minimum time interception with a moving target whose trajectory is not known beforehand, in presence of moving/static obstacles, kinematic motion constraints and bounded control vector.
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