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61
Multi-agent coordination by decentralized estimation and control
- IEEE Transactions on Automatic Control
, 2008
"... Abstract — We describe a framework for the design of collective behaviors for groups of identical mobile agents. The approach is based on decentralized simultaneous estimation and control, where each agent communicates with neighbors and estimates the global performance properties of the swarm neede ..."
Abstract
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Cited by 43 (2 self)
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localization. For the swarm formation control problem, we derive small-gain conditions which, if satisfied, guarantee that the formation statistics are driven to desired values, even in the presence of a changing network topology and the addition and deletion of robots. Index Terms — Multi-agent systems
Distributed Learning and Cooperative Control for Multi-Agent Systems ⋆
"... This paper presents a novel class of resource-constrained multi-agent systems for cooperatively estimating an unknown field of interest and locating peaks of the field. Each agent is resource constrained and has limited capabilities in terms of sensing, computation, and communication; hence a centra ..."
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centralized approach is not desirable and not feasible. We propose an algorithm for distributed learning and cooperative control of a multi-agent system so that a global goal of the overall system is achieved from locally acting agents. The proposed algorithm is executed by each agent independently
A decentralized controller-observer scheme for multi-agent weighted centroid tracking.
- IEEE Trans on Aut Contr,
, 2013
"... Abstract-In this paper a decentralized controller-observer scheme for centroid tracking with a multi-robot system is presented. The key idea is to develop, for each robot, an observer of the collective system's state; each local observer is updated by only using information of the state of the ..."
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Cited by 2 (2 self)
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Abstract-In this paper a decentralized controller-observer scheme for centroid tracking with a multi-robot system is presented. The key idea is to develop, for each robot, an observer of the collective system's state; each local observer is updated by only using information of the state
Simulation and Implementation of Navigation Function based Control for Multi-agent systems Description:
"... Navigation function proposed in [1] is one of the popular tools used to navigate a single robot through dynamic environment. Now navigation function based control techniques have been extensively applied to multi-agent systems where a group of agents need to cooperate with each other using locally a ..."
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Navigation function proposed in [1] is one of the popular tools used to navigate a single robot through dynamic environment. Now navigation function based control techniques have been extensively applied to multi-agent systems where a group of agents need to cooperate with each other using locally
Coevolutionary Design of a Control System for Nonlinear Uncertain Plants
- IEEE Symposium on Combinations of Evolutionary Computation and Neural Networks, May 11-13, 2000
, 2000
"... The paper proposes and analyzes an alternative for autonomously developing control systems for nonlinear, uncertain plants. The proposed alternative uses a neural-like controller with a special architecture and also a specific developing algorithm. The developing algorithm estimates the parameters a ..."
Abstract
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Cited by 1 (0 self)
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and the structure of the controller during an off-line training stage. The controller obtained at the end of the off-line training is for the on-line use, no longer requiring an extra-training. The developing algorithm is implemented like a multi-agent system so that the agents cooperate one another. For each agent
Output Regulation and Consensus of a Class of Multi-agent Systems under Switching Communication Topologies
"... [15] and [12], and a Lyapunov function is proposed to study the convergence of the consensus algo rithms. In [6] and [20], necessary and sufficient conditions for an appropriate decentralized linear stabilizing feedback are established. In [16], the problem of flocking with obstacles is addressed, ..."
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restricted to vehicles with integra tor dynamics. A decentralized dynamic controller dealing with the problem of cooperation among a collection of vehicles is presented in [3] and [9]. The problems of consensus (synchronization), model-reference, and regulation for a network of identical multi-input, multi
Conflict Resolution for Multi- Agent Hybrid Systems
, 1996
"... A conflict resolution architecture for multi-agent hybrid systems with emphasis on Air Traffic Management Systems (ATMS) is presented. In such systems, conflicts arise in the form of potential collisions which are resolved locally by inter-agent coordination. This results in a decentralized architec ..."
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Cited by 1 (0 self)
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A conflict resolution architecture for multi-agent hybrid systems with emphasis on Air Traffic Management Systems (ATMS) is presented. In such systems, conflicts arise in the form of potential collisions which are resolved locally by inter-agent coordination. This results in a decentralized
Distributed model predictive control and estimation of large-scale multi-rate systems * Distributed Model Predictive Control and Estimation of Large-Scale Multi-Rate Systems ⋆
"... nl). Abstract: In this paper, we propose a new method for control of large-scale multi-rate systems with linear dynamics that are coupled via inputs. These systems are multi-rate systems in the sense that either output measurements or input updates are not available at certain sampling times. Such ..."
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in the system's performance. A distributed model predictive control (MPC) approach based on Nash game theory is proposed to control multi-agent multi-rate systems in which multiple control agents each determine actions for their own parts of the system. Via communication, the agents can in a cooperative
A Multi-AUV System for Cooperative Tracking and Following of Leopard Sharks
"... Abstract—This paper presents a system of multiple coordi-nating autonomous underwater vehicles (AUV) that can localize and track a shark tagged with an acoustic transmitter. Each AUV is equipped with a stereo-hydrophone system that provides measurements of the relative bearing to the transmitter, as ..."
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, as well as an acoustic modem that allows for inter-AUV communication and hence cooperative shark state estimation and decentralized tracking control. Online state estimation of the shark’s state is performed using a Particle Filter in which measurements are shared between AUVs. The decentralized control
unknown title
"... Coevolutionary design of a control system for nonlinear uncertain plants Abstract- The paper proposes and analyzes an alternative for autonomously developing control systems for nonlinear, uncertain plants. The proposed alternative uses a neural-like controller with a special architecture and also a ..."
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algorithm is implemented like a multi-agent system so that the agents cooperate one another. For each agent the developing algorithm implements a local evolution and a temporal evolution. For the partition where the agent works, the local evolution estimates, through a coevolutionary algorithm, the best
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