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    This study addresses energy-efficient formation control for multiagent systems, considering sampled data and random packet losses. It establishes limitations and presents a method to find minimum transmission energy for reliable formation control.

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    Area of Science:

    • Robotics and Control Systems
    • Networked Multiagent Systems
    • Stochastic Systems

    Background:

    • Formation control is crucial for multiagent systems but challenged by sampled data and packet losses.
    • Energy efficiency is a key concern in deploying large-scale multiagent systems.

    Purpose of the Study:

    • To investigate energy-efficient formation control for multiagent systems with sampled data and random packet losses.
    • To derive conditions for achieving formation control under these constraints.
    • To present a method for determining minimum transmission energy.

    Main Methods:

    • Utilized a Bernoulli stochastic variable to model random packet losses.
    • Designed a distributed sampled-data formation control law.
    • Derived analytic sufficient conditions for formation control.
    • Employed numerical simulations for verification.

    Main Results:

    • Identified inherent limitations on formation control imposed by sampling period, control parameters, network topology, and sensor transmission energy.
    • Developed a method to search for the minimum allowable transmission energy.

    Conclusions:

    • The study provides a framework for energy-efficient formation control in challenging environments.
    • Understanding transmission energy limitations is vital for successful multiagent formation.
    • The proposed methods offer practical insights for designing robust control systems.