Self-Triggered Network Coordination over Noisy Communication Channels

This paper deals with coordination problems over noisy communication channels. We consider a scenario where the communication between network nodes is corrupted by unknown-but-bounded noise. We introduce a novel coordination scheme which ensures (i) boundedness of the state trajectories, and (ii) a linear map from the noise to the nodes disagreement value. The proposed scheme does not require any global information on the network parameters and/or the operating environment (the noise characteristics). Moreover, network nodes can sample at independent rates and in an aperiodic manner.