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Future multi-agent systems will include embedded microprocessors with limited resources to gather information and actuate the individual agent controller updates. In this paper we examine the stability of such scheme in a cooperative control problem where the actuation updates are event-driven, depending on the ratio of a certain measurement error with respect to the norm of the state. In the centralized case, we obtain a strictly positive lower bound in the inter-event times, while relevant, yet more conservative, results are obtained in the decentralized case.
Dimarogonas et al. (Sat,) studied this question.
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