Multi-agent distributed coordination control: Developments and directions via graph viewpoint

Abstract

In this paper, the recent developments of distributed coordination control problems are summarized in a graph-theory-based framework. Distributed coordination has attracted tremendous attention in control and robot communities because of its potential applications in the past decade. The graph is used to describe the interconnections among agents, and different distributed coordination control problems, such as consensus, formation control, rendezvous, alignment, swarming, flocking, containment control and circumnavigation control, are adopted to this description by considering different cooperative objects. Therefore it is natural to study the distributed coordination control problems via graph theory, and the graph-theory-based results on consensus, formation control, and some closely related issues, i.e., rendezvous/alignment, swarming/flocking, containment control and circumnavigation control, are reviewed, and provide a cohesive overview in the coordination control problems, in system modeling, control law designs and analysis, and structure transformation. Finally, towards the practical applications, some potential directions possibly deserving investigation in distributed coordination control are discussed Show more