Event-Triggered Consensus Control for Multi-Robot Systems with Collaborative Localization in Intelligent Manufacturing

Intelligent manufacturing leverages multi-robot systems to collaboratively perform tasks such as material handling, assembly, and inspection, thereby enhancing production flexibility and efficiency. However, most existing multi-robot coordination control strategies rely on periodic communication or continuous data transmission, which cannot balance energy efficiency and real-time performance, and face challenges such as communication congestion and collision risks in dynamic tasks or high-dimensional factory environments. To address these shortcomings, this paper proposes an event-triggered consensus control method for multi-robot systems with collaborative localization. This method is based on collaborative localization among robots, employing an event-triggered mechanism to update control inputs only when the state error meets the triggering condition, and utilizes a consensus protocol to achieve formation and task synchronization. The approach constructs a multi-robot dynamics model, a collaborative localization filter, and event-triggered conditions, with system stability proven using the Lyapunov method. Experiments comparing the proposed method with various state-of-the-art control approaches validate its advantages in reducing energy consumption, minimizing communication events, and shortening convergence time. The results demonstrate that the proposed event-triggered consensus control effectively enhances the coordination efficiency of multi-robot systems in intelligent manufacturing while ensuring system stability and safety.