Consensus - when the individuals agree on the value of a variable of interest, they are said to have reached consensus.
To achieve consensus, there must be a shared variable of interest, called the information state, as well and consensus algorithms for negotiating to reach consensus on the information state.
Examples of information state - local representation of the center and shape of a formation, the rendezvous time, the length of a perimeter to be monitored, the direction of motion for a multivehicle swarm and the probability that a military target has been destroyed.
By necessity, consensus algorithms assume only neighbor to neighbor interaction between vehicles.
Fundamental Consensus algorithms. -
Basic idea - impose similar dynamics on the information states of each vehicle.
Information state update is modeled using a differential equation or difference equation depending on type of communication.
To achieve consensus, there must be a shared variable of interest, called the information state, as well and consensus algorithms for negotiating to reach consensus on the information state.
Examples of information state - local representation of the center and shape of a formation, the rendezvous time, the length of a perimeter to be monitored, the direction of motion for a multivehicle swarm and the probability that a military target has been destroyed.
By necessity, consensus algorithms assume only neighbor to neighbor interaction between vehicles.
Fundamental Consensus algorithms. -
Basic idea - impose similar dynamics on the information states of each vehicle.
Information state update is modeled using a differential equation or difference equation depending on type of communication.
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