consensus, cooperative control, Kalman filter, UAVs
Sponsorship: AFOSR, NSF. In this paper, we propose discrete-time and continuous-time consensus update schemes motivated by the discrete-time and continuous-time Kalman filters. With certainty information encoded into each agent, the proposed consensus schemes explicitly account for relative confidence in the information that is communicated from each agent in the team. We show mild sufficient conditions under which consensus can be achieved using the proposed schemes in the presence of switching interaction topologies. The Kalman consensus scheme is shown to be input-to-state stable. We show how to exploit this fact in multi-agent cooperative control scenarios.
BYU ScholarsArchive Citation
Beard, Randal; Kingston, Derek; and Ren, Wei, "Kalman Consensus Strategies and Their Application to Cooperative Control" (2004). All Faculty Publications. 407.
Ira A. Fulton College of Engineering and Technology
Electrical and Computer Engineering
© 2004 IEEE
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