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Event-Based Rendezvous Control for a Group of Robots With Asynchronous Periodic Detection and Communication Time

Bingxian Mu, Kunwu Zhang, Feng Xiao

IEEE Transactions on Cybernetics

|July 21, 2018

Summary

This study introduces an event-triggered control for multiple two-wheeled mobile robots (2WMRs) to achieve rendezvous despite communication delays. The method ensures robots reach a common point efficiently using asynchronous state updates and Lyapunov analysis.

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Area of Science:

Robotics
Control Systems
Distributed Systems

Background:

Coordinating multiple mobile robots is challenging due to communication constraints.
Time-varying delays in communication networks can disrupt robot synchronization.
Event-triggered control offers a more efficient alternative to traditional periodic control.

Purpose of the Study:

To develop an event-triggered rendezvous control strategy for multiple two-wheeled mobile robots (2WMRs).
To address the challenges posed by time-varying communication delays in multi-robot systems.
To ensure asymptotic rendezvous of 2WMRs under asynchronous control updates.

Main Methods:

An integral-type event-triggering condition is proposed for asynchronous state sampling and broadcasting.
A Rotate&Compensate&Run Rendezvous Scheme is introduced for state updates.
Lyapunov functional approach is utilized for convergence analysis.

Main Results:

A sufficient condition for achieving asymptotic rendezvous is derived.
The proposed event-triggered control method demonstrates effectiveness in simulations.
The system successfully manages time-varying communication delays.

Conclusions:

The event-triggered rendezvous control method is effective for multiple 2WMRs.
The approach provides robust coordination under communication uncertainties.
This work contributes to efficient and reliable multi-robot navigation.