Distributed event-triggered circle formation control for multi-agent systems with limited communication bandwidth.

This paper investigates event-triggered circle formation problem of multi-agent systems (MASs) with limited communication bandwidth over such network setup among agents, in which each agent can only perceive the angular distance from itself to the nearest neighbor in counterclockwise direction as well as the counterpart in the clockwise direction be acquired through communication. To solve the concerned problem, a distributed algorithm relied on the combination between the quantized communication technology and event-triggered control (ETC) has been proposed. We show that, under the proposed law, all the designed quantizers do not appear saturated, and that the resulting network executions can ensure the states of all agents to converge to some desired equilibrium point. Numerical simulation results are provided to validate the effectiveness of the proposed algorithm.