摘要：AbstractDecentralized collective motion coordination is a rapidly developing field, motivated by its extensive applications in mobile sensor networks, cooperative robotics, and unmanned aerial vehicles. In most existing results, the distributed controller for collective motion coordination is designed in the continuous-time domain in order to conform to the continuous kinetic dynamics of vehicle systems, and discretization of the continuous controller is used in implementation since the information can only be exchanged at discrete-time instants among these systems. However, this approach cannot guarantee the original design performance since discretization may harm or even destabilize the closed-loop system. Inspired by pulse-based synchronization among biological pulse-coupled oscillators, we propose an integrated communication and control approach for collective motion coordination which can circumvent discretization and guarantee the design performance in final implementation. Not only can heading control be achieved to coordinate vehicle headings, but also spacing control is achievable for the circular motion. Numerical simulations are provided to confirm the theoretical results.
