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    This study introduces novel event-triggered communication protocols for networked agents to achieve formation control efficiently. These protocols reduce communication bandwidth and energy consumption while preventing Zeno behavior.

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    Area of Science:

    • Control Systems Engineering
    • Networked Systems
    • Robotics

    Background:

    • Formation control is crucial for multi-agent systems.
    • Event-triggered communication reduces data transmission for networked agents.
    • Zeno behavior is an undesirable phenomenon in discrete-time systems.

    Purpose of the Study:

    • To develop event-triggered communication protocols for linear networked agents.
    • To achieve specified formation structures while avoiding Zeno behavior.
    • To reduce communication load and energy consumption.

    Main Methods:

    • Proposed four types of edge-based event-triggered protocols.
    • Designed protocols based on sampled information at event instants.
    • Developed distributed static and adaptive state/output feedback protocols.

    Main Results:

    • Protocols successfully achieve formation control for linear networked agents.
    • Event-triggered approach significantly reduces communication bandwidth and energy usage.
    • Adaptive protocols operate in a fully distributed and scalable manner without global network information.

    Conclusions:

    • The proposed event-triggered protocols are effective for formation control.
    • These methods offer efficient communication strategies for networked systems.
    • Adaptive protocols provide a scalable solution for distributed formation control.