Plan-based coordination, which can fill the vacancy of control during the communication silent periods, improves the ability of agents’ independence and reduces the requirement of communication resources. This paper presents a generalized form of plan-based coordination, namely the time-extended consensus problem, which is applicable to multi-agent systems entering non-interaction state. Conditions for achieving time-extended consensus are described for systems subject to the Lipschitz condition. A control protocol for time-extended consensus is constructed using linear superposition of drag vector fields. The convergence process of time-extended states based on the proposed control protocol is investigated in terms of the speed of approaching consensus. Simulation results demonstrate the advantages and limitations of the proposed method for time-extended consensus and how it compares to conventional multi-agent state synchronization.

中文翻译：

---

多智能体非交互式协作的延时共识


基于计划的协调，可以填补通信静默期的控制空白，提高智能体的独立性能力，减少对通信资源的需求。本文提出了一种基于计划的协调的广义形式，即时间扩展共识问题，适用于进入非交互状态的多智能体系统。对于受 Lipschitz 条件约束的系统，描述了实现时间扩展共识的条件。使用阻力矢量场的线性叠加构建了时间扩展共识的控制协议。根据接近共识的速度研究了基于所提出的控制协议的时间扩展状态的收敛过程。仿真结果证明了所提出的时间扩展共识方法的优势和局限性，以及它与传统的多智能体状态同步的比较。