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Page 16 of 18 Guo et al. Intell Robot 2023;3(4):596-613 I http://dx.doi.org/10.20517/ir.2023.32

Figure 6. The evolution of speed error after encountering the emergency situation.

Figure 7. The evolution of k k after encountering the emergency situation.

application scenario and is further promoted compared to traditional consensus proof. In order to cope with
communication faults, wireless detection, and other tasks, an event-triggered protocol has been introduced
due to the lower frequency and effectiveness of obtaining neighbor information through sensors compared
to traditional information exchange based on wireless data transmission, which provides a theoretical basis
for further physical verification. At the same time, the protocol allows for damage to some sensors, further
improving the fault tolerance range of the system.

5. DISCUSSION
In this paper, an event-triggered consensus protocol of multi-UAVs has been proposed, which is used to solve
the consensus problem of systems in normal or emergency situations with communication faults. Compared
to traditional protocols, differences in the interaction topologies of speed and location information are allowed.
With the help of Lyapunov stability principles, sufficient conditions to achieve system consensus are given. We