Jieqiang Wei

Xinlei Yi, Jieqiang Wei, Dimos V. Dimarogonas et al.

In this paper, event-triggered controllers and corresponding algorithms are proposed to establish the formation with connectivity preservation for multi-agent systems. Each agent needs to update its control input and to broadcast this control input together with the relative state information to its neighbors at its own triggering times, and to receive information at its neighbors' triggering times. Two types of system dynamics, single integrators and double integrators, are considered. As a result, all agents converge to the formation exponentially with connectivity preservation, and Zeno behavior can be excluded. Numerical simulations show the effectiveness of the theoretical results.

Xinlei Yi, Jieqiang Wei, Karl H. Johansson

The consensus problem for multi-agent systems with quantized communication or sensing is considered. Centralized and distributed self-triggered rules are proposed to reduce the overall need of communication and system updates. It is proved that these self-triggered rules realize consensus exponentially if the network topologies have a spanning tree and the quantization function is uniform. Numerical simulations are provided to show the effectiveness of the theoretical results.

Joana Fonseca, Jieqiang Wei, Karl H. Johansson et al.

Harmful algal blooms occur frequently and deteriorate water quality. A reliable method is proposed in this paper to track algal blooms using a set of autonomous surface robots. A satellite image indicates the existence and initial location of the algal bloom for the deployment of the robot system. The algal bloom area is approximated by a circle with time varying location and size. This circle is estimated and circumnavigated by the robots which are able to locally sense its boundary. A multi-agent control algorithm is proposed for the continuous monitoring of the dynamic evolution of the algal bloom. Such algorithm comprises of a decentralized least squares estimation of the target and a controller for circumnavigation. We prove the convergence of the robots to the circle and in equally spaced positions around it. Simulation results with data provided by the SINMOD ocean model are used to illustrate the theoretical results.