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Formation of Second-Order Multi-Agent Systems with Link Quality Aware Control

Control of multi-agent systems has attracted much attention in the past decade, due to its ever-increasing use in unmanned autonomous vehicles and mobile robots. In mobile multi-agent systems, the network used for communication should be wireless. Due to the movements of the agents and environmental effects such as interference, noise, and multipath propagation, the quality of the communication link in low-power wireless networks can vary over time. Changes in the link quality can reduce the credibility of the data received from neighbors. Using low credibility data increases the probability of system error, increases the formation time, and can even cause overall instability. This study proposes a method to use link quality measures to determine the neighborhood of each agent and form the control signal. Simulation results show the performance of the proposed method.