Event-Based Distributed Linear Quadratic Gaussian for Multi-Robot Coordination with Localization Uncertainty
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866915227798339584 |
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| author | Tasooji, Tohid Kargar Khodadadi, Sakineh |
| author_facet | Tasooji, Tohid Kargar Khodadadi, Sakineh |
| contents | This paper addresses the problem of event-based distributed Linear Quadratic Gaussian (LQG) control for multirobot coordination under localization uncertainty. An event-triggered LQG rendezvous control strategy is proposed to ensure coordinated motion while reducing communication overhead. The design framework decouples the LQG controller from the event-triggering mechanism, although the scheduler parameters critically influence rendezvous performance. We establish stochastic stability for the closed-loop multi-robot system and demonstrate that a carefully tuned event-triggering scheduler can effectively balance rendezvous accuracy with communication efficiency by limiting the upper bound of the rendezvous error while minimizing the average transmission rate. Experimental results using a group of Robotarium mobile robots validate the proposed approach, confirming its efficacy in achieving robust coordination under uncertainty. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_03125 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Event-Based Distributed Linear Quadratic Gaussian for Multi-Robot Coordination with Localization Uncertainty Tasooji, Tohid Kargar Khodadadi, Sakineh Systems and Control Robotics This paper addresses the problem of event-based distributed Linear Quadratic Gaussian (LQG) control for multirobot coordination under localization uncertainty. An event-triggered LQG rendezvous control strategy is proposed to ensure coordinated motion while reducing communication overhead. The design framework decouples the LQG controller from the event-triggering mechanism, although the scheduler parameters critically influence rendezvous performance. We establish stochastic stability for the closed-loop multi-robot system and demonstrate that a carefully tuned event-triggering scheduler can effectively balance rendezvous accuracy with communication efficiency by limiting the upper bound of the rendezvous error while minimizing the average transmission rate. Experimental results using a group of Robotarium mobile robots validate the proposed approach, confirming its efficacy in achieving robust coordination under uncertainty. |
| title | Event-Based Distributed Linear Quadratic Gaussian for Multi-Robot Coordination with Localization Uncertainty |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2504.03125 |