Consensus algorithm for robotic agents over packet dropping links

Abstract

Consensus among robotic agents require transmission of consensus variables for achieving consensus and usually wireless channels are employed in such scenarios. In wireless channels packet dropouts are more pronounced than their wired counterparts. The presence of packet dropouts in the channel between the agents make the consensus problem intractible, thereby neccessitate dynamic control and estimation strategies. In this paper, we propose an estimation based consensus algorithm for robotic agents connected over a lossy network.