

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.