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Consensus Algorithm Assignment 1: Vishal Chaugule 07743 Me 2010 Aerospace Engineering, Iisc

This document contains the results of consensus algorithms applied to multi-agent systems. It examines positional consensus, directional consensus, moving agents, and relative consensus. For positional consensus, the agents converge to a centroid in 3D space. For directional consensus, the agents converge to a common orientation with small oscillations. In moving agents, the orientations converge and the agents follow trajectories based on their orientations. For relative consensus, the agents maintain a fixed formation with distances between agents matching desired distances.

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41 views21 pages

Consensus Algorithm Assignment 1: Vishal Chaugule 07743 Me 2010 Aerospace Engineering, Iisc

This document contains the results of consensus algorithms applied to multi-agent systems. It examines positional consensus, directional consensus, moving agents, and relative consensus. For positional consensus, the agents converge to a centroid in 3D space. For directional consensus, the agents converge to a common orientation with small oscillations. In moving agents, the orientations converge and the agents follow trajectories based on their orientations. For relative consensus, the agents maintain a fixed formation with distances between agents matching desired distances.

Uploaded by

chaugule
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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ConsensusAlgorithm

Assignment1
Vishal Chaugule
07743
ME2010
AerospaceEngineering,IISc

LayoutofAgents

Matrices
Degreematrix
200000
030000
003000
000200
000030
000001

Eigenvalues
0.0000
0.7216
1.6826
3.0000
3.7046
4.8912

Rank(L) =5

Adjacencymatrix
011000
101100
110010
010010
001101
000010

Laplacian Matrix
211000
131100
113010
010210
001131
000011

Eigenvectors Matrix
0.40820.41490.50530.28870.56700.0323
0.40820.30940.04030.28870.65810.4685
0.40820.22090.20070.57740.30840.5620
0.40820.06920.75900.28870.20510.3564
0.40820.22090.20070.57740.30840.5620
0.40820.79350.29400.28870.11400.1444

1.PositionalConsensus
Consensusalgorithmgivenby

x i = ui = aij (xi x j )
j =1

y i = vi = aij ( yi y j )
j =1

Terminationcriteria=Interdistances<0.01
Rateofconvergence
6

J = ( xi x j + yi y j )
i =1 j =1

Where(i,j)=(j,i),norepeatsallowed

Results =1

Zaxisrepresentstime.Convergence occursat8.3satthecentroid.

Rateofconvergence =1

Results =0.2,0.4,0.6,0.8

Ratesofconvergence =0.2,0.4,0.6,0.8

2.DirectionalConsensus
Consensusalgorithmgivenby

i = aij (i j )
j =1

Rateofconvergence
6

J = i j
i =1 j =1

where(i,j)=(j,i),norepeatsallowed

Terminationcriteria=J<0.01

Results =1

Thegraphexhibitsminutebutperiodicoscillationsast tendstoinfinity.
Howevertheseoscillationsarewithintheconvergencecriteria.Convergence
occursatcentroid 0.8233radians

Rateofconvergence =1

Results =0.2,0.4,0.6,0.8

Ratesofconvergence =0.2,0.4,0.6,0.8

3.MovingAgents
Threedifferentialequationstobesolvedhere

i = aij (i j )

.1

j =1

x i = V cos i

y i = V sin i
ValueofVchosenas10units/s

.2
.3

Results Trajectories

Finalorientationofallagentsis0.8236radians.

Orientations

Convergenceoccursatcentroid 0.8233radians.

Rateofconvergence

Thegraphexhibitsminutebutperiodicoscillationsast tendstoinfinity.
Howevertheseoscillationsarewithintheconvergencecriteria.

4.RelativeConsensus

Distancesbetweenagentsdenotedalongtheedgesjoiningthem

RelativeStateDeviations
Consensusalgorithmforachievingafixedformation

x i = ui = aij [(xi x j ) dijx ]


j =1

y i = vi = aij [( yi y j ) d ]
j =1

y
ij

x
Here=desireddistancealongthexaxisbetween
ij

agenti andj
Similarlycorrespondingtotheyaxis

Results

1.
2.
3.
4.

Thedatatipsshowthefinalpositionsoftheagents,withZdenotingthetime
Theblacklinesegmentsjoiningtheagentsshowthefinaltopology
Theboxesalongtheedgesshowthefinaldistancesbetweentheagents
Wecanseethatthefinaldistancesarealmostequaltothedesireddistances

Thankyou!

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