Asynchronous distributed algorithms for heading consensus of multi-agent systems with communication delay

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In this paper, we propose two asynchronous distributed protocols for the heading consensus of a multi-agent group which cannot access a global coordinate system and a global time. Both the leaderless and leader-following cases are addressed, and inter-agent communication delay is taken into account. It is proved, under some standard connectivity assumptions, that our leaderless algorithm ensures the heading consensus provided the initial headings are not balanced; and the leader-based algorithm guarantees the global heading consensus.

Original languageEnglish (US)
Pages (from-to)430-443
Number of pages14
JournalAsian Journal of Control
Issue number2
StatePublished - Mar 1 2013



  • Multi-agent systems
  • asynchronous algorithms
  • heading consensus

ASJC Scopus subject areas

  • Control and Systems Engineering

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