核心概念
Utilizing Over-The-Air (OTA) consensus for efficient formation control and collision avoidance in multi-agent systems.
摘要
The paper introduces a distributed control method using OTA-Consensus for agents with single-integrator dynamics. It focuses on formation control and collision avoidance, leveraging interference in wireless channels. The structure includes notation, preliminaries, communication model, control strategy, convergence analysis, simulation results, and conclusion. Key insights include the use of artificial potential fields for collision avoidance and the efficiency of OTA broadcasting over traditional methods.
統計資料
An alternative to direct agent-to-agent communication is leveraging OTA's superposition property.
Comparative evaluations show significant efficiency improvements over current methods.
The system converges to a local minimum due to perfect symmetries in the setup.
A broadcast protocol exploiting interference requires fewer resources than standard approaches.
引述
"Efficient energy use and communication management are critical in multi-agent systems."
"The proposed controller assures convergence but may settle into a local minimum."
"The superior scalability of OTA broadcasting results in fewer required orthogonal channels."