Publisher DOI: 10.1109/MFI.2016.7849503
Title: Comparison of consensus loop designs with a mission error signal
Language: English
Authors: Gronemeyer, Marcus 
Bartels, Marcus 
Horn, Joachim 
Issue Date: 2016
Publisher: IEEE
Source: IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (0): 16671069, 291-296 (2016)
Abstract (english): A multi-agent system trying to complete a mission has to fulfill a number of objectives. In case of a combination of formation control and other mission-related goals such as source seeking, both objectives have to be integrated. This paper presents different designs which incorporate the mission error signal as well as the corresponding generalized plants needed for the synthesis of the corresponding-optimal information flow filter. The comparison of the designs is then performed by evaluation of the simulation results for a sample scenario. The results show different behaviors dependent on the choice of design and weighting filters. The variety in behavior implies to choose the design according to the performance requirements of the particular task.
Conference: 2016 IEEE lnternational Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2016 
URI: http://hdl.handle.net/11420/4913
ISBN: 9781467397087
Institute: Regelungstechnik E-14 
Type: InProceedings (Aufsatz / Paper einer Konferenz etc.)
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