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This paper studies the real-time implementation of distributed controllers onnetworked cyber-physical systems. We build on the strengths of event- andself-triggered control to synthesize a unified approach, termed team-triggered,where agents make promises to one another about their future states and areresponsible for warning each other if they later decide to break them. Theinformation provided by these promises allows individual agents to autonomouslyschedule information requests in the future and sets the basis for maintainingdesired levels of performance at lower implementation cost. We establishprovably correct guarantees for the distributed strategies that result from theproposed approach and examine their robustness against delays, packet drops,and communication noise. The results are illustrated in simulations of amulti-agent formation control problem.

Team-triggered coordination for real-time control of networked cyber-physical systems