Time- and Event-Triggered Communication for Multi-Agent Systems-Part I: General Framework
We present a framework for the design of time- and event-triggered communication schemes for a broad class of multiagent systems (MAS). The framework is general in the sense that we consider a class of heterogeneous nonlinear MAS with directed communication graphs subject to disturbances and the ine...
Saved in:
| Published in | IEEE transactions on automatic control Vol. 70; no. 1; pp. 447 - 462 |
|---|---|
| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
New York
IEEE
01.01.2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Institute of Electrical and Electronics Engineers |
| Subjects | |
| Online Access | Get full text |
Cover
Loading…
| Abstract | We present a framework for the design of time- and event-triggered communication schemes for a broad class of multiagent systems (MAS). The framework is general in the sense that we consider a class of heterogeneous nonlinear MAS with directed communication graphs subject to disturbances and the inevitable imperfections induced by packet-based networked communication, such as time-varying transmission delays and intervals. Under suitable conditions, the designed distributed time- or event-triggered communication schemes lead to an MAS that is dissipative with respect to a desired supply rate, and thus can be used to study various properties such as <inline-formula><tex-math notation="LaTeX">\mathcal {L}_{p}</tex-math></inline-formula>-gain stability, input-to-state stability, and passivity. Strictly positive lower bounds on the interevent times are ensured and robustness to nonuniform time-varying delays in terms of maximum allowable delays is guaranteed. In addition, the framework allows for the consideration of destination protocols, which determine, at each transmission instant, to which (groups of) agent(s) a local output measurement is being transmitted. These destination protocols can be used to include packet loss and denial-of-service, as will be shown in the second part of this paper. |
|---|---|
| AbstractList | We present a framework for the design of time- and event-triggered communication schemes for a broad class of multi-agent systems (MAS). The framework is general in the sense that we consider a class of heterogeneous nonlinear MAS with directed communication graphs subject to disturbances and the inevitable imperfections induced by packet-based networked communication, such as time-varying transmission delays and intervals. Under suitable conditions, the designed distributed time- or event-triggered communication schemes lead to a MAS that is dissipative with respect to a desired supply rate, and thus can be used to study various properties such as Lp-gain stability, input-to-state stability and passivity. Strictly positive lower bounds on the inter-event times are ensured and robustness to non-uniform time-varying delays in terms of maximum allowable delays is guaranteed. In addition, the framework allows for the consideration of destination protocols which determine, at each transmission instant, to which (groups of) agent(s) a local output measurement is being transmitted. These destination protocols can be used to include packet loss and denial-of-service, as shown in the companion paper (Part II). We present a framework for the design of time- and event-triggered communication schemes for a broad class of multiagent systems (MAS). The framework is general in the sense that we consider a class of heterogeneous nonlinear MAS with directed communication graphs subject to disturbances and the inevitable imperfections induced by packet-based networked communication, such as time-varying transmission delays and intervals. Under suitable conditions, the designed distributed time- or event-triggered communication schemes lead to an MAS that is dissipative with respect to a desired supply rate, and thus can be used to study various properties such as [Formula Omitted]-gain stability, input-to-state stability, and passivity. Strictly positive lower bounds on the interevent times are ensured and robustness to nonuniform time-varying delays in terms of maximum allowable delays is guaranteed. In addition, the framework allows for the consideration of destination protocols, which determine, at each transmission instant, to which (groups of) agent(s) a local output measurement is being transmitted. These destination protocols can be used to include packet loss and denial-of-service, as will be shown in the second part of this paper. We present a framework for the design of time- and event-triggered communication schemes for a broad class of multiagent systems (MAS). The framework is general in the sense that we consider a class of heterogeneous nonlinear MAS with directed communication graphs subject to disturbances and the inevitable imperfections induced by packet-based networked communication, such as time-varying transmission delays and intervals. Under suitable conditions, the designed distributed time- or event-triggered communication schemes lead to an MAS that is dissipative with respect to a desired supply rate, and thus can be used to study various properties such as <inline-formula><tex-math notation="LaTeX">\mathcal {L}_{p}</tex-math></inline-formula>-gain stability, input-to-state stability, and passivity. Strictly positive lower bounds on the interevent times are ensured and robustness to nonuniform time-varying delays in terms of maximum allowable delays is guaranteed. In addition, the framework allows for the consideration of destination protocols, which determine, at each transmission instant, to which (groups of) agent(s) a local output measurement is being transmitted. These destination protocols can be used to include packet loss and denial-of-service, as will be shown in the second part of this paper. |
| Author | Scheres, K. J. A. Heemels, W. P. M. H. Postoyan, R. Dolk, V. S. |
| Author_xml | – sequence: 1 givenname: V. S. orcidid: 0000-0002-1588-4828 surname: Dolk fullname: Dolk, V. S. email: v.s.dolk@tue.nl organization: Control Systems Technology Section, Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands – sequence: 2 givenname: K. J. A. orcidid: 0000-0002-9593-9365 surname: Scheres fullname: Scheres, K. J. A. email: k.j.a.scheres@tue.nl organization: Control Systems Technology Section, Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands – sequence: 3 givenname: R. orcidid: 0000-0002-2454-602X surname: Postoyan fullname: Postoyan, R. email: romain.postoyan@univ-lorraine.fr organization: Université de Lorraine, CNRS, CRAN, Nancy, France – sequence: 4 givenname: W. P. M. H. orcidid: 0000-0003-3440-8007 surname: Heemels fullname: Heemels, W. P. M. H. email: m.heemels@tue.nl organization: Control Systems Technology Section, Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands |
| BackLink | https://hal.science/hal-04650726$$DView record in HAL |
| BookMark | eNp9kM9LHDEUgIMouNree_AQ6KmHbF-SSTbxtiz-gpUKroeeQpp5s0ZnJjaTtfjfd7arID14euTxfeHxHZH9PvVIyBcOU87Bfl_NF1MBoprKSswsmD0y4UoZJpSQ-2QCwA2zwuhDcjQMD-NTVxWfkJ-r2CGjvq_p2TP2ha1yXK8xY00Xqes2fQy-xNTTJmV6vWlLZPP1yNHbl6FgN7Abnwu9OqUX2GP2LT3PvsM_KT9-IgeNbwf8_DqPyd352WpxyZY_Lq4W8yULUpvChG4Aa5QSrW7qUIGXVmodeDCqMjhD0QQBqGqAgLUKqqrlr2ZmvbHW61E8Jt92_9771j3l2Pn84pKP7nK-dNsdVFrBTOhnPrJfd-xTTr83OBT3kDa5H89zkitQSksrRkrvqJDTMGRsXIjlX4WSfWwdB7dN7sbkbpvcvSYfRfhPfLvnA-Vkp0REfIcra6QB-RdwTIzw |
| CODEN | IETAA9 |
| CitedBy_id | crossref_primary_10_1109_TAC_2024_3427909 |
| Cites_doi | 10.1002/zamm.201100139 10.1109/LCSYS.2020.3000676 10.1016/j.automatica.2013.03.002 10.1016/j.automatica.2013.01.018 10.1109/TAC.2004.835360 10.1137/1.9781611971309 10.1016/j.automatica.2012.08.042 10.1109/TAC.2019.2904442 10.1109/EBCCSP.2015.7300691 10.1109/ACC.2009.5160053 10.1109/TITS.2017.2738446 10.1109/CDC45484.2021.9683389 10.1080/00207721.2013.775387 10.1109/TAC.2009.2017963 10.1109/TAC.2014.2365073 10.1016/j.automatica.2014.03.017 10.1080/00207179.2012.659760 10.1109/CDC.2010.5717501 10.1109/TAC.2016.2536707 10.1109/TAC.2010.2042352 10.1109/TAC.2015.2416924 10.1109/LCSYS.2023.3284343 10.1109/TAC.2011.2174666 10.1109/TAC.2014.2325272 10.1007/PL00009865 10.1007/978-94-015-7793-9 10.1007/978-3-319-49992-5 10.1109/TAC.2014.2351951 10.1016/j.automatica.2009.05.002 10.1109/TAC.2016.2565062 10.1109/CoDIT.2014.6996929 10.1016/j.jfranklin.2014.09.004 10.1109/TAC.2007.904277 10.1109/TAC.2014.2357131 10.3182/20130925-2-DE-4044.00028 10.1016/j.automatica.2004.07.003 10.1016/j.automatica.2019.03.009 10.1016/j.automatica.2017.02.029 10.1109/TITS.2014.2328439 10.1109/TAC.2019.2914255 10.23943/princeton/9780691153896.001.0001 10.1109/TAC.2022.3180789 10.1109/TAC.2012.2188425 10.1109/TAC.2011.2174696 10.1016/j.automatica.2009.11.015 10.1109/TAC.2007.900829 10.1109/TAC.2004.834433 10.1109/TAC.2020.3020809 10.1109/CDC.2012.6426387 10.4171/056-1/2 10.1109/TAC.2007.895913 10.1016/j.neucom.2012.05.025 10.1109/TAC.2012.2220443 10.1016/j.ins.2015.07.047 10.1007/978-3-319-07803-8 10.1016/j.automatica.2015.06.011 10.1109/TAC.2010.2057951 10.1109/TAC.2014.2366855 10.1109/TAC.2016.2555484 10.1109/TAC.2024.3427909 10.1109/TAC.2010.2042980 10.1109/TAC.2014.2363603 |
| ContentType | Journal Article |
| Copyright | Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2025 Distributed under a Creative Commons Attribution 4.0 International License |
| Copyright_xml | – notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2025 – notice: Distributed under a Creative Commons Attribution 4.0 International License |
| DBID | 97E RIA RIE AAYXX CITATION 7SC 7SP 7TB 8FD FR3 JQ2 L7M L~C L~D 1XC VOOES |
| DOI | 10.1109/TAC.2024.3427908 |
| DatabaseName | IEEE All-Society Periodicals Package (ASPP) 2005–Present IEEE All-Society Periodicals Package (ASPP) 1998–Present IEEE Xplore Digital Libary (IEL) CrossRef Computer and Information Systems Abstracts Electronics & Communications Abstracts Mechanical & Transportation Engineering Abstracts Technology Research Database Engineering Research Database ProQuest Computer Science Collection Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional Hyper Article en Ligne (HAL) Hyper Article en Ligne (HAL) (Open Access) |
| DatabaseTitle | CrossRef Technology Research Database Computer and Information Systems Abstracts – Academic Mechanical & Transportation Engineering Abstracts Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Engineering Research Database Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Professional |
| DatabaseTitleList | Technology Research Database |
| Database_xml | – sequence: 1 dbid: RIE name: IEEE Electronic Library (IEL) url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/ sourceTypes: Publisher |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1558-2523 |
| EndPage | 462 |
| ExternalDocumentID | oai_HAL_hal_04650726v1 10_1109_TAC_2024_3427908 10598380 |
| Genre | orig-research |
| GrantInformation_xml | – fundername: ANR grantid: HANDY 18-CE40-0010 |
| GroupedDBID | -~X .DC 0R~ 29I 3EH 4.4 5GY 5VS 6IK 97E AAJGR AARMG AASAJ AAWTH ABAZT ABQJQ ABVLG ACGFO ACGFS ACIWK ACNCT AENEX AETIX AGQYO AGSQL AHBIQ AI. AIBXA AKJIK AKQYR ALLEH ALMA_UNASSIGNED_HOLDINGS ASUFR ATWAV BEFXN BFFAM BGNUA BKEBE BPEOZ CS3 DU5 EBS EJD F5P HZ~ H~9 IAAWW IBMZZ ICLAB IDIHD IFIPE IFJZH IPLJI JAVBF LAI M43 MS~ O9- OCL P2P RIA RIE RNS TAE TN5 VH1 VJK ~02 AAYOK AAYXX CITATION RIG 7SC 7SP 7TB 8FD FR3 JQ2 L7M L~C L~D 1XC VOOES |
| ID | FETCH-LOGICAL-c368t-26f0ede33e96fdc40a39366c1c8548e7e2fc20e5d00ced5c54d3bf79a899a6de3 |
| IEDL.DBID | RIE |
| ISSN | 0018-9286 |
| IngestDate | Thu Jul 17 06:20:16 EDT 2025 Mon Jun 30 10:15:31 EDT 2025 Tue Jul 01 03:36:51 EDT 2025 Thu Apr 24 23:03:12 EDT 2025 Wed Aug 27 02:02:11 EDT 2025 |
| IsDoiOpenAccess | true |
| IsOpenAccess | true |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 1 |
| Keywords | Networked systems Lyapunov stability Hybrid dynamical systems Event-triggered control Dissipativity |
| Language | English |
| License | https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html https://doi.org/10.15223/policy-029 https://doi.org/10.15223/policy-037 Distributed under a Creative Commons Attribution 4.0 International License: http://creativecommons.org/licenses/by/4.0 |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c368t-26f0ede33e96fdc40a39366c1c8548e7e2fc20e5d00ced5c54d3bf79a899a6de3 |
| Notes | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 |
| ORCID | 0000-0002-9593-9365 0000-0002-1588-4828 0000-0002-2454-602X 0000-0003-3440-8007 |
| OpenAccessLink | https://hal.science/hal-04650726 |
| PQID | 3150556392 |
| PQPubID | 85475 |
| PageCount | 16 |
| ParticipantIDs | crossref_primary_10_1109_TAC_2024_3427908 ieee_primary_10598380 proquest_journals_3150556392 crossref_citationtrail_10_1109_TAC_2024_3427908 hal_primary_oai_HAL_hal_04650726v1 |
| ProviderPackageCode | CITATION AAYXX |
| PublicationCentury | 2000 |
| PublicationDate | 2025-Jan. 2025-1-00 20250101 2025 |
| PublicationDateYYYYMMDD | 2025-01-01 |
| PublicationDate_xml | – month: 01 year: 2025 text: 2025-Jan. |
| PublicationDecade | 2020 |
| PublicationPlace | New York |
| PublicationPlace_xml | – name: New York |
| PublicationTitle | IEEE transactions on automatic control |
| PublicationTitleAbbrev | TAC |
| PublicationYear | 2025 |
| Publisher | IEEE The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Institute of Electrical and Electronics Engineers |
| Publisher_xml | – name: IEEE – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE) – name: Institute of Electrical and Electronics Engineers |
| References | ref13 ref57 ref12 ref56 ref15 ref59 ref14 ref58 ref52 ref11 ref55 ref10 ref17 ref16 ref19 ref18 arzen (ref54) 1999 ref51 ref46 ref45 ref48 ref47 ref42 ref41 ref44 ref43 ref49 ref8 ref7 ref9 ref4 ref3 ref6 ref5 ref40 ref35 ref34 ref37 ref36 ref31 ref30 ref33 ref32 ref2 ref1 ref39 ref38 Diestel (ref50) 2006 strm (ref53) 1999; 11 ref24 ref23 ref26 ref25 ref20 ref64 ref63 ref22 ref21 Filippov (ref65) 1988; 18 ref28 ref27 ref29 ref60 ref62 ref61 |
| References_xml | – ident: ref37 doi: 10.1002/zamm.201100139 – ident: ref14 doi: 10.1109/LCSYS.2020.3000676 – ident: ref23 doi: 10.1016/j.automatica.2013.03.002 – ident: ref59 doi: 10.1016/j.automatica.2013.01.018 – ident: ref41 doi: 10.1109/TAC.2004.835360 – ident: ref49 doi: 10.1137/1.9781611971309 – ident: ref26 doi: 10.1016/j.automatica.2012.08.042 – ident: ref17 doi: 10.1109/TAC.2019.2904442 – ident: ref5 doi: 10.1109/EBCCSP.2015.7300691 – ident: ref15 doi: 10.1109/ACC.2009.5160053 – ident: ref9 doi: 10.1109/TITS.2017.2738446 – ident: ref56 doi: 10.1109/CDC45484.2021.9683389 – ident: ref6 doi: 10.1080/00207721.2013.775387 – ident: ref11 doi: 10.1109/TAC.2009.2017963 – ident: ref20 doi: 10.1109/TAC.2014.2365073 – ident: ref24 doi: 10.1016/j.automatica.2014.03.017 – ident: ref43 doi: 10.1080/00207179.2012.659760 – ident: ref57 doi: 10.1109/CDC.2010.5717501 – ident: ref34 doi: 10.1109/TAC.2016.2536707 – ident: ref52 doi: 10.1109/TAC.2010.2042352 – ident: ref45 doi: 10.1109/TAC.2015.2416924 – ident: ref63 doi: 10.1109/LCSYS.2023.3284343 – ident: ref21 doi: 10.1109/TAC.2011.2174666 – ident: ref36 doi: 10.1109/TAC.2014.2325272 – ident: ref64 doi: 10.1007/PL00009865 – volume: 18 volume-title: Differential Equations With Discontinuous Righthand Sides year: 1988 ident: ref65 doi: 10.1007/978-94-015-7793-9 – ident: ref60 doi: 10.1007/978-3-319-49992-5 – ident: ref4 doi: 10.1109/TAC.2014.2351951 – ident: ref12 doi: 10.1016/j.automatica.2009.05.002 – ident: ref19 doi: 10.1109/TAC.2016.2565062 – ident: ref16 doi: 10.1109/CoDIT.2014.6996929 – ident: ref29 doi: 10.1016/j.jfranklin.2014.09.004 – ident: ref33 doi: 10.1109/TAC.2007.904277 – volume-title: Graph Theory year: 2006 ident: ref50 – ident: ref27 doi: 10.1109/TAC.2014.2357131 – ident: ref28 doi: 10.3182/20130925-2-DE-4044.00028 – ident: ref62 doi: 10.1016/j.automatica.2004.07.003 – ident: ref10 doi: 10.1016/j.automatica.2019.03.009 – ident: ref44 doi: 10.1016/j.automatica.2017.02.029 – ident: ref3 doi: 10.1109/TITS.2014.2328439 – ident: ref47 doi: 10.1109/TAC.2019.2914255 – ident: ref48 doi: 10.23943/princeton/9780691153896.001.0001 – ident: ref40 doi: 10.1109/TAC.2022.3180789 – ident: ref18 doi: 10.1109/TAC.2012.2188425 – ident: ref35 doi: 10.1109/TAC.2011.2174696 – ident: ref7 doi: 10.1016/j.automatica.2009.11.015 – start-page: 8687 volume-title: Proc. 14th IFAC World Congr. year: 1999 ident: ref54 article-title: A simple event-based PID controller – ident: ref58 doi: 10.1109/TAC.2007.900829 – ident: ref2 doi: 10.1109/TAC.2004.834433 – volume: 11 start-page: 301 volume-title: Proc. the 14th IFAC World Congr. year: 1999 ident: ref53 article-title: Comparison of periodic and event based sampling for first-order stochastic systems – ident: ref32 doi: 10.1109/TAC.2020.3020809 – ident: ref42 doi: 10.1109/CDC.2012.6426387 – ident: ref61 doi: 10.4171/056-1/2 – ident: ref51 doi: 10.1109/TAC.2007.895913 – ident: ref13 doi: 10.1016/j.neucom.2012.05.025 – ident: ref46 doi: 10.1109/TAC.2012.2220443 – ident: ref8 doi: 10.1016/j.ins.2015.07.047 – ident: ref22 doi: 10.1007/978-3-319-07803-8 – ident: ref25 doi: 10.1016/j.automatica.2015.06.011 – ident: ref31 doi: 10.1109/TAC.2010.2057951 – ident: ref55 doi: 10.1109/TAC.2014.2366855 – ident: ref30 doi: 10.1109/TAC.2016.2555484 – ident: ref1 doi: 10.1109/TAC.2024.3427909 – ident: ref38 doi: 10.1109/TAC.2010.2042980 – ident: ref39 doi: 10.1109/TAC.2014.2363603 |
| SSID | ssj0016441 |
| Score | 2.47689 |
| Snippet | We present a framework for the design of time- and event-triggered communication schemes for a broad class of multiagent systems (MAS). The framework is... We present a framework for the design of time- and event-triggered communication schemes for a broad class of multi-agent systems (MAS). The framework is... |
| SourceID | hal proquest crossref ieee |
| SourceType | Open Access Repository Aggregation Database Enrichment Source Index Database Publisher |
| StartPage | 447 |
| SubjectTerms | Automatic Communication Communication networks Delays Dissipativity Engineering Sciences event-triggered control Lower bounds Multi-agent systems Multiagent systems networked control systems Packet loss Packet transmission Protocols Stability Synchronization Vectors |
| Title | Time- and Event-Triggered Communication for Multi-Agent Systems-Part I: General Framework |
| URI | https://ieeexplore.ieee.org/document/10598380 https://www.proquest.com/docview/3150556392 https://hal.science/hal-04650726 |
| Volume | 70 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1Ba9swFBZtTt1h3bqOpU2LKLvsoESRZNnazYSEtLRlhxS6k7Gl5w1a0rIlO-zX9z3ZDllHx27GSELwnqT3Se_7HmMfQcnKJqoUtSoTYUJlRZmllXApZN7WzoZ4NXB1bec35uI2uW3J6pELAwAx-QyG9Bnf8sODX9NV2YhigUxniNB3Ebk1ZK3NkwEd7M22iytYZZs3SelGi3yCSFCZoTYqdVRJcusM2v1OGZCxtMpf-3E8ZGb77LqbXpNbcjdcr6qh__1MufG_5_-GvW7DTZ43_vGW7cDygL3aEiF8x74SC0Twchn4lJIfxQIB-zcq4cn_YI9wDG955OuKnPhYvBU7F1_Q-_j5Z94qWPNZl-91yG5m08VkLtqCC8Jrm62EsrWEAFqDs3XwRpbaaWv92GcIbCAFVXslIQlSegiJT0zQVZ26EkFbabHje9ZbPizhA-O1MlVA1G5gXBt0h9IbYnel2lYpOsC4z0adCQrfqpFTUYz7IqIS6Qo0WkFGK1qj9dmnTY_HRonjH23P0KqbZiShPc8vC_onDcakqbK_cAqHZKKtwRrr9Nmg84KiXdA_C42BM2mpOXX0QrdjtqeoNnC8nhmw3urHGk4wYFlVp9FRnwAbe-UG |
| linkProvider | IEEE |
| linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1NbxMxELWgHKCHQktR0w-wql44OHFsr3fdW1Q1SiGNOKRSOVm79myRQCmiSQ_99Z3xbqIAKuK2Wtkrr2bsmfHMe8PYCShZ2UyVolZlJkysrCiLvBIuhyLY2tmYrgYuJ3Z0ZT5dZ9ctWD1hYQAgFZ9Blx5TLj_ehgVdlfXIFyh0gRH6CzT8Wb-Ba62SBmTam4MX97AqVllJ6XrTwRnGgsp0tVG5o16Sa1bo-TeqgUzNVf46kZOZGb5mk-UCm-qS793FvOqGhz-4G__7D96wrdbh5INGQ7bZM5jtsM01GsK37CvhQAQvZ5GfU_mjmGLIfkNNPPlv-BGODi5PiF0xIEQWb-nOxRfUP35xylsOaz5cVnztsqvh-fRsJNqWCyJoW8yFsrWECFqDs3UMRpbaaWtDPxQY2kAOqg5KQhalDBCzkJmoqzp3JYZtpcWJ79jG7HYGe4zXylQR43YD_dqgQpTBEL4r17bKUQX6HdZbisCHlo-c2mL88Ckukc6j0DwJzbdC67CPqxk_Gy6Of4w9RqmuhhGJ9mgw9vROGvRKc2XvcQm7JKK1jzXS6bDDpRb4dkvfeY2uM7GpObX_xLQP7OVoejn244vJ5wP2SlGn4HRZc8g25r8WcITuy7x6n5T2ETeC6E8 |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Time-+and+event-triggered+communication+for+multi-agent+systems+%E2%80%93+Part+I%3A+General+framework&rft.jtitle=IEEE+transactions+on+automatic+control&rft.au=Dolk%2C+Victor&rft.au=Scheres%2C+Koen&rft.au=Postoyan%2C+Romain&rft.au=Heemels%2C+Maurice&rft.date=2025&rft.pub=Institute+of+Electrical+and+Electronics+Engineers&rft.issn=0018-9286&rft.volume=70&rft.issue=1&rft.spage=447&rft.epage=462&rft_id=info:doi/10.1109%2FTAC.2024.3427908&rft.externalDBID=HAS_PDF_LINK&rft.externalDocID=oai_HAL_hal_04650726v1 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0018-9286&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0018-9286&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0018-9286&client=summon |