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American Control Conference

作者： Cameron Nowzari George J. Pappas Electrical and Systems Engineering Department University of Pennsylvania Philadelphia United States of America

ISBN: (纸本)9781467386838

In this work we study a multi-agent coordination problem in which agents are only able to communicate intermittently with the cloud. To minimize the amount of required communication, we are interested in developing a self-triggered algorithm that determines when communication with the cloud is necessary. Unlike the overwhelming majority of similar works that propose distributed event- and/or self-triggered control laws, this work doesn't assume agents can be `listening' continuously. In other words, when an event is triggered by one agent, neighboring agents will not be aware of this until the next time they establish communication with the cloud. Each time an agent communicates with the cloud, it must determine the next time to reestablish communication while guaranteeing the completion of some global task. We show that our self-triggered coordination algorithm guarantees that the system asymptotically reaches the set of desired states. Simulations illustrate our results.

关键词： Nickel Underwater vehicles algorithm design and analysis Laplace equations Base stations Broadcasting Symmetric matrices algorithm design and analysis Laplace's equation underwater vehicles Symmetric matrix BASE STATION broadcasting CLOUDS Clouds Nickel Communication Research Agents coordination algorithm Dyscoordination

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An Open-Source Architecture for Control and coordination of a Swarm of Micro-Quadrotors

An Open-Source Architecture for Control and Coordination of ...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Furci, M. Casadei, G. Naldi, R. Sanfelice, R. G. Marconi, L. Univ Bologna CASY DEI Bologna Italy UCSC Dept Comp Engn Santa Cruz CA USA

ISBN: (纸本)9781479960101

This work presents the design of an open-source control architecture specifically tailored to the rapid development and testing of control and coordination algorithms on micro quadrotors. The proposed design extends an existing open-source and open-hardware quadrotor project, i. e., the Crazyflie nano quadrotor, by adding the guidance, navigation and control layers required to accomplish autonomous flight. The control layer, in particular, is based on a cascade control algorithm able to globally stabilize the position and the attitude of the vehicle. The global property guaranteed by the algorithm allows the quadrotors to perform aggressive maneuvers. The guidance layer is designed to coordinate simultaneously multiple vehicles by generating suitable reference trajectories. Experiments demonstrate the effectiveness of the proposed design.

关键词： control layer dike swarms open source Guidance Navigation and Control Standing Orders test control coordination algorithm Computer algorithms

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Team-triggered coordination of robotic networks for optimal deployment

Team-triggered coordination of robotic networks for optimal ...

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American Control Conference

作者： Cameron Nowzari Jorge Cortes George J. Pappas Dept. of Electrical and Systems Engineering University of Pennsylvania San Diego

ISBN: (纸本)9781479917730

This paper introduces a novel team-triggered algorithmic solution for a distributed optimal deployment problem involving a group of mobile sensors. Distributed self-triggered algorithms relieve the requirement of synchronous periodic communication among agents by providing opportunistic criteria for when communication should occur. However, these criteria are often conservative since worst-case scenarios must always be considered to ensure the monotonic evolution of a relevant objective function. Here we introduce a team-triggered algorithm that builds on the idea of 'promises' among agents, allowing them to operate with better information about their neighbors when they are not communicating, over a dynamically changing graph. We analyze the correctness of the proposed strategy and establish the same convergence guarantees as a coordination algorithm that assumes perfect information at all times. The technical approach relies on tools from set-valued stability analysis, computational geometry, and event-based systems. Simulations illustrate our results.

关键词： coordination algorithm deployment Agents Communication Research accuracy class Objective function Stability analysis Conservative

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Network integrity via coordinated motion of stratospheric vehicles

Network integrity via coordinated motion of stratospheric ve...

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IEEE Annual Conference on Decision and Control

作者： Michael Ouimet Jorge Cortes Sonia Martinez Department of Mechanical and Aerospace Engineering University of California San Diego CA 92093 USA

ISBN: (纸本)9781479978878

This paper considers the task of deploying mobile wireless repeaters on aerial vehicles in the upper air of Earth to increase the Internet connectivity of users with little to no network infrastructure. By routing data between a user and a strong connection to the Internet through the vehicle network, this ad hoc infrastructure can provide Internet access to those currently without it. We consider two different types of vehicles, altitude-actuating balloons and fixed-altitude gliders, and examine the task of finding optimal vehicle trajectories under lateral wind dynamics employing a throughput-based performance function. Given the complexity of computing the optimal trajectories of all vehicles simultaneously, we introduce an approximation that allows us to determine the optimal trajectory of a single vehicle. We use this optimal trajectory as a reference for the network and develop a coordination algorithm that makes all vehicles follow it while being spaced out equally in time, providing good overall coverage to users. For gliders, we show that, if cost of control is small enough, these vehicles converge to a stationary formation rather than flow with the wind. Simulations validate the throughput performance of the proposed periodic trajectories.

关键词： vehicle coordination algorithm Gliders Vehicle Network trajectory upper atmosphere Vehicle trajectories Public internet access Internets

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Coordinating Measurements for Air Pollution Monitoring in Participatory Sensing Settings 15

Coordinating Measurements for Air Pollution Monitoring in Pa...

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International Conference on Autonomous Agents and Multiagent Systems

作者： Alexandros Zenonos Sebastian Stein Nicholas R. Jennings Electronics and Computer Science University of Southampton

ISBN: (纸本)9781450337694

Environmental monitoring is important, as it allows authorities to understand the impact of potentially harmful environmental phenomena, such as air pollution, noise or temperature, on public health. To achieve this effectively, participatory sensing is a promising paradigm for large-scale data collection. In this approach, ordinary citizens (non-expert contributors) collect environmental data using low-cost mobile devices. However, these participants are generally self-interested agents having their own goals and making local decisions about where and when to take measurements, if any at all. This can lead to a highly inefficient outcome, where observations are either taken redundantly or do not provide sufficient information about key areas of interest. To address these challenges, a coordination system is necessary to guide and to coordinate participants. This paper proposes such a participatory sensing framework and presents a novel algorithm based on entropy and mutual information criteria, called Local Greedy Search (LGS), that takes into consideration knowledge about human mobility patterns and the inconvenience cost that is incurred by taking measurements. In particular, the algorithm uses a local search technique to map participants to measurements that need to be taken. We empirically evaluate our algorithm on real-world human mobility and air quality data and show that our coordination algorithm outperforms the state-of-the-art greedy and myopic algorithms. In particular, LGS gains 33.4% more information than the best benchmark in realistic city-scale scenarios with hundreds of agents.

关键词： Participatory Sensing Collective Intelligence coordination Gaussian Processes Emissions Air Quality Teamwork Human Mobility Approximation algorithms Dynamic Environments Gaussian processes Approximation algorithms Air quality Emissions Collective intelligence field focus teamwork search technique Air pollution monitors coordination algorithm LGSN gene Air quality data algorithms

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Demand response for aggregated residential consumers with energy storage sharing

Demand response for aggregated residential consumers with en...

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IEEE Annual Conference on Decision and Control

作者： Kaveh Paridari Alessandra Parisio Henrik Sandberg Karl Henrik Johansson ACCESS Linnaeus Center and the Automatic Control Lab School of Electrical Engineering KTH Royal Institute of Technology Sweden

ISBN: (纸本)9781479978878

A novel distributed algorithm is proposed in this paper for a network of consumers coupled by energy resource sharing constraints, which aims at minimizing the aggregated electricity costs. Each consumers is equipped with an energy management system that schedules the shiftable loads accounting for user preferences, while an aggregator entity coordinates the consumers demand and manages the interaction with the grid and the shared energy storage system (ESS) via a distributed strategy. The proposed distributed coordination algorithm requires the computation of Mixed Integer Linear Programs (MILPs) at each iteration. The proposed approach guarantees constraints satisfaction, cooperation among consumers, and fairness in the use of the shared resources among consumers. The strategy requires limited message exchange between each consumer and the aggregator, and no messaging among the consumers, which protects consumers privacy. Performance of the proposed distributed algorithm in comparison with a centralized one is illustrated using numerical experiments.

关键词： Demand-Responsive distributed algorithms coordination algorithm information exchange User preferences Energy sources energy storage

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A Distributed Cooperative Power Allocation Method for Campus Buildings

A Distributed Cooperative Power Allocation Method for Campus...

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IEEE Power and Energy Society General Meeting

作者： He Hao Yannan Sun Thomas E. Carroll Abhishek Somani Pacific Northwest National Laboratory

ISBN: (纸本)9781467380416

We propose a coordination algorithm for cooperative power allocation among a collection of commercial buildings within a campus. We describe a typical commercial building Heating, Ventilation, and Air Conditioning (HVAC) system, and utilize Model Predictive Control (MPC) to characterize its power flexibility. The power allocation problem is formulated as a cooperative game using the Nash Bargaining Solution (NBS) concept, in which buildings cooperatively maximize the product of their utilities subject to their local flexibility constraints and a total power limit set by the campus coordinator. To solve the optimal allocation problem, a distributed protocol is designed using dual decomposition of the Nash bargaining problem. Numerical simulations are performed to demonstrate the efficacy of our proposed allocation method.

关键词： Building-to-grid Power allocation Commercial buildings Nash bargaining theory Dual decomposition power splitting commercial buildings heating ventilation and air conditioning coordination algorithm School Buildings

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Collision-free coordination of Two Dual-Arm Robots with Assembly Precedence Constraint 14

Collision-free Coordination of Two Dual-Arm Robots with Asse...

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14th International Conference on Control, Automation and Systems (ICCAS)

作者： Lee, Duck-Hyun Kim, Dong-Hyung Lee, Ji Yeong Han, Chang-Soo Hanyang Univ Dept Mech Engn Seoul Campus Seoul South Korea Hanyang Univ Dept Robot Engn Seoul South Korea

ISBN: (纸本)9788993215069

This paper describes a coordination of two dual-arm robots when assembly precedence constraints exists. coordination is also called by the decoupled method that assumes each path for a robot is given. This method is efficient when the number of robot DOF is high which dramatically increases the path planning time. We tested the proposed method through a simulation with two dual-arm robot of 16 DOF. The simulation results verify that the proposed method satisfies given constraint on assembly precedence.

关键词： coordination algorithm Assembly Precedence Constraint Decoupled Method Multi-Robot Motion Planning

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Step-coordination algorithm of Traffic Control Based on Multi-agent System

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International Journal of Automation and computing 2009年第3期6卷 308-313页

作者： Hai-Tao Zhang Fang Yu Wen Li Electronic Information Engineering College Henan University of Science and Technology Luoyang 471003 PRC Materials Science arid Engineering College Zhengzhou University Zhengzhou 450001 PRC

Aiming at the deficiency of conventional traffic control method, this paper proposes a new method based on multi-agent technology for traffic control. Different from many existing methods, this paper distinguishes traffic control on the basis of the agent technology from conventional traffic control method. The composition and structure of a multi-agent system （MAS） is first discussed. Then, the step-coordination strategies of intersection-agent, segment-agent, and area-agent are put forward. The advantages of the algorithm are demonstrated by a simulation study.

关键词： Traffic control coordination algorithm multi-agent system （MAS） traffic control system agent.

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A Study on the coordination of Urban Traffic Control and Traffic Assignment

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DISCRETE DYNAMICS IN NATURE AND SOCIETY 2012年第unknown期2012卷 367468-1-367468-12页

作者： Qu, ZhaoWei Xing, Yan Song, XianMin Duan, YuZhou Wei, Fulu Jilin Univ Coll Transportat Changchun 130025 Peoples R China

The interactions between signal setting and traffic assignment can directly affect the urban road network efficiency. In order to improve the coordination of signal setting with traffic assignment, this paper created a traffic control algorithm considering traffic assignment;meanwhile, the link impedance function and the route choice function were introduced into this paper to study the user's route choice and the road network flow distribution. Then based on the above research, we created a system utility value model. Finally through the VISSIM software to simulate the test network, we verified the superiority of the coordination algorithm and the model and gave the optimal flow of the road network.

关键词： road network Traffic assignment coordination algorithm Route choice Ran Traffic Control Signal Devices urban traffic control system

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