# Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks

arXiv: https://arxiv.org/abs/1609.02174 · HTML: https://mlsanity.com/paper/1609.02174/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 Sep 2016.

## Built on by (most cited first, 2 of 2)

- [Bayesian adversarial multi-node bandit for optimal smart grid protection against cyber attacks](https://mlsanity.com/paper/2104.02774/) (2021)
- [Online Planning of Power Flows for Power Systems Against Bushfires Using Spatial Context](https://mlsanity.com/paper/2404.13391/) (2024)

## Abstract (arXiv)

This paper considers the distributed sampled-data control problem of a group of mobile robots connected via distance-induced proximity networks. A dwell time is assumed in order to avoid chattering in the neighbor relations that may be caused by abrupt changes of positions when updating information from neighbors. Distributed sampled-data control laws are designed based on nearest neighbour rules, which in conjunction with continuous-time dynamics results in hybrid closed-loop systems. For uniformly and independently initial states, a sufficient condition is provided to guarantee synchronization for the system without leaders. In order to steer all robots to move with the desired orientation and speed, we then introduce a number of leaders into the system, and quantitatively establish the proportion of leaders needed to track either constant or time-varying signals. All these conditions depend only on the neighborhood radius, the maximum initial moving speed and the dwell time, without assuming a prior properties of the neighbor graphs as are used in most of the existing literature.