Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems

Gianvito Difilippo; Maria Pia Fanti; Agostino Marcello Mangini

doi:10.1109/JAS.2021.1004320

Volume 9 Issue 2

Feb. 2022

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2022 > 9(2): 259-269

G. Difilippo, M. P. Fanti, and A. M. Mangini, “Maximizing convergence speed for second order consensus in leaderless multi-agent systems,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 2, pp. 259–269, Feb. 2022. doi: 10.1109/JAS.2021.1004320

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G. Difilippo, M. P. Fanti, and A. M. Mangini, “Maximizing convergence speed for second order consensus in leaderless multi-agent systems,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 2, pp. 259–269, Feb. 2022. doi: 10.1109/JAS.2021.1004320

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Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems

doi: 10.1109/JAS.2021.1004320

Department of Electrical and Information Engineering, Polytechnic University of Bari, Bari 70125, Italy

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Author Bio:
Gianvito Difilippo received the master degree in automation engineering with honors from the Polytechnic University of Bari (Italy) in 2019. He worked in the same university as Research Assistant in Laboratory of Control and Automation in 2018 for the H2020 project OptiTruck and for AutoLogS s.r.l., an engineering and logistics company based in the Polytechnic University of Bari. He currently works for Code Architects, an automation software company, and is a Ph.D. candidate at Polytechnic University of Bari, in the Laboratory of Control and Automation. His research activity is mainly focused on consensus algorithms and autonomous driving

Maria Pia Fanti (Fellow, IEEE) received the laurea degree in electronic engineering from the University of Pisa, Italy, in 1983. She was a Visiting Researcher at the Rensselaer Polytechnic Institute of Troy, USA, in 1999. Since 1983, she has been with the Department of Electrical and Information Engineering of the Polytechnic University of Bari, Italy, where she is currently a Full Professor of system and control engineering and Chair of the Laboratory of Automation and Control. Her research interests include management and modeling of complex systems, such as transportation and logistics systems; discrete event systems; Petri nets; consensus protocols; fault detection. Prof. Fanti has published more than +310 papers and two textbooks on her research topics. She was Editor of the IEEE Trans. on Automation Science and Engineering and she is Associate Editor of the IEEE Trans. on Systems, Man, and Cybernetics: Systems. She was Member at large of the Board of Governors of the IEEE Systems, Man, and Cybernetics Society, and actually she is Member of the AdCom of the IEEE Robotics and Automaton Society, and Chair of the Technical Committee on Automation in Logistics of the IEEE Robotics and Automation Society. Prof. Fanti was General Chair of the 2011 IEEE Conference on Automation Science and Engineering, the 2017 IEEE International Conference on Service Operations and logistics, and Informatics and the 2019 Systems, Man, and Cybernetics Conference

Agostino Marcello Mangini (Member, IEEE) received the laurea degree in electronics engineering and the Ph.D. degree in electrical engineering from the Polytechnic of Bari, Italy, in 2003 and 2008, respectively. He has been a Visiting Scholar with the University of Zaragoza, Spain. He is currently an Assistant Professor with the Department of Electrical and Information Engineering, Polytechnic University of Bari. He has authored or co-authored over 100 printed publications. His current research interests include modeling, simulation, and control of discrete-event systems, Petri nets, optimization, consensus, urban traffic networks, distribution and internal logistics, management of drug distribution systems, and healthcare systems. Dr. Mangini was on the program committees of the 2007–2021 IEEE International Conference on Systems, Man, and Cybernetics, the 2018–2020 Workshop on Discrete Event Systems (WODES), the 2016–2021 IEEE Conference on Automation Science and Engineering (CASE), and the 2009 IFAC Workshop on Dependable Control of Discrete Systems (DCDS). He was on the Editorial Board of the 2017 IEEE Conference on Automation Science and Engineering. Finally, Dr. Mangini was Publication Chair of the 2017 IEEE International Conference on Service Operations and Logistics, and Informatics (SOLI 2017) and the 2019 IEEE International Conference on Systems, Man, and Cybernetics Conference (SMC 2019)
Corresponding author: Maria Pia Fanti, e-mail: mariapia.fanti@poliba.it
Received Date: 2021-08-09
Accepted Date: 2021-09-01

Available Online: 2023-03-29

Abstract

Abstract

The paper deals with the consensus problem in a leaderless network of agents that have to reach a common velocity while forming a uniformly spaced string. Moreover, the final common velocity (reference velocity) is determined by the agents in a distributed and leaderless way. Then, the consensus protocol parameters are optimized for networks characterized by a communication topology described by a class of directed graphs having a directed spanning tree, in order to maximize the convergence rate and avoid oscillations. The advantages of the optimized consensus protocol are enlightened by some simulation results and comparison with a protocol proposed in the related literature. The presented protocol can be applied to coordinate agents such as mobile robots, automated guided vehicles (AGVs) and autonomous vehicles that have to move with the same velocity and a common inter-space gap.
- Consensus protocols,
- directed spanning tree,
- multi-agent systems,
- networked systems,
- second-order consensus

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References(42)

References

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Highlights

The presented consensus protocol allows to the agents to form a uniformly spaced string
The agents decide a non-predetermined common reference velocity and reach the common velocity
The conditions ensuring that the proposed second order consensus is achieved are proved
Protocol parameters to obtain the fastest convergence avoiding oscillations are optimized

Maximizing Convergence Speed for Second Order Consensus in Leaderless Multi-Agent Systems

doi: 10.1109/JAS.2021.1004320

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