

Distributed Consensus in Multivehicle Cooperative
Control Table of
Contents 
Sample Simulation and Experimental
Materials Associated with the Book
The basic idea for information consensus is that each vehicle updates its
information based on the information of its local neighbors so that the final
information of each vehicle converges to a common value. This basic idea can be
extended to a variety of scenarios that incorporate group behavior and
dynamics. Consensus algorithms have applications in rendezvous, formation
control, flocking, attitude alignment, decentralized task assignment, and
sensor networks. Experimental results of the consensus algorithms in rendezvous
applications can be found at Experimental
Video 1 (Four robots rendezvous with a dynamic interaction topology that is
directed switching but has a directed spanning tree jointly.), Experimental
Video 2 (Four robots rendezvous with a static interaction topology that has
a directed spanning tree.), and Experimental
Video 3
(Four robots align their positions along a horizontal line with a even separation distance with a static interaction
topology that has a directed spanning tree.). Experimental results of the
consensus algorithms in formation control applications can be found at
Experimental Video 1 (Four robots follow a circle while maintaining a
square formation under a static interaction topology with a directed spanning
tree.), Experimental
Video 2 (Four robots follow a circle while maintaining a square formation
under switching interaction topology with a directed spanning tree at each time
instant.), and Experimental
Video (Four robots use coupled linear harmonic oscillators to achieve synchronized
motions.). Simulation results of the consensus algorithms in deep space
spacecraft formation flying applications can be found at Simulation
Videos while a conceptual experimental demonstration on the ground robots
can be found at Experimental
Video.