Adaptive transmission probability for CSMA/CA-based consensus control of multi-agent systems

This paper deals with consensus control for multi-agent systems over CSMA/CA(Carrier Sense Multiple Access with Collision Avoidance)based wireless networks. In consensus control, the number of agents within the communication range changes with time according to the movement of the agents and affects the packet collision rate. In this paper, we propose a new method to reduce the packet collision rate considering consensus dynamics of the agents. In the proposed method, each agent distributedly estimates the priority of its own position information on the basis of position information received from its adjacent agents and then adjusts transmission probability according to the estimated priority. Simulation results show that the proposed method improves the control quality.