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7th International Conference on Robotics and Automation Engineering (ICRAE)

作者： Matveev, A. Gordievich, K. Gusev, S. St Petersburg State Univ Math & Mech Fac St Petersburg Russia Sirius Univ Math Robot Sci Div Sirius City Krasnodar Regio Russia

ISBN: (纸本)9781665489188

A team of mobile robots travels with an upper-bounded speed in a corridor environment, which contains obstacles. The team should sweep the corridor with a given speed, while autonomously lining up on a moving cross-section of the corridor and evenly distributing themselves over this section. The robots should also avoid collisions with one another, the obstacles, and the corridor sides. In the parts of the corridor containing obstacles, the requirement to achieve or maintain the even distribution is forcedly relaxed. However, the even distribution should be automatically restored after such a part is left behind. In its local frame, every robot has access to the corridor direction and to the relative coordinates of the objects that lie within a finite range of visibility The robots are unaware of the team size and the corridor width, are unable to distinguish between the peers or play different roles in the team. A computationally inexpensive and distributed control algorithm is presented that solves the mission. The performance of the proposed navigation law is justified by a mathematically rigorous global convergence result and is confirmed by computer simulation tests.

关键词： Multiagent robotics distributed algorithms obstacles sweep coverage stability analysis

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ILC-based two-layer economic performance assessment and improvement strategy for large-scale industrial distributed MPC systems 7

ILC-based two-layer economic performance assessment and impr...

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7th IEEE International Symposium on Advanced Control of Industrial Processes (AdCONIP)

作者： Shi, Yao Zhang, Zhiming Hu, Xiaorong Xie, Lei Liu, Xueqin Amy Su, Hongye Queens Univ Belfast Belfast BT29 5AH Antrim North Ireland Zhejiang Univ State Key Lab Ind Control Technol Hangzhou 310027 Peoples R China

ISBN: (数字)9781665471749

ISBN: (纸本)9781665471749

When applied to large-scale industrial plants, the traditional linear quadratic gaussian (LQG) benchmark performance assessment method usually brings about unreachable economics, and its LQG curve dimension increases with the expansion of the system scale, which significantly aggravates the computation burden. To address various problems in the LQG benchmark method, an ILC-based two-layer economic performance assessment and improvement strategy are proposed and applied in large-scale distributed model predictive control (DMPC) systems. The presented strategy separates the whole operation time into multiple intervals during which the economic performance will be gradually improved and finally achieves its optimal. In each interval, the economic performance acquires its first promotion by the fixed variance obtained from the lower DMPC layer. The distributed ILC (DILC) method then provides the tuning parameters of each DMPC controller in the next period with the updating principle based on sensitivity analysis. The effectiveness of the presented strategy is verified via an improved Alumina continuous carbonation decomposition process compared to the former one.

关键词： Economics Sensitivity analysis distributed databases Benchmark testing Large-scale systems Industrial plants distributed algorithms

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Development and Analysis of distributed Algorithm for Hybrid Multiple Access Based User Association

Development and Analysis of Distributed Algorithm for Hybrid...

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IEEE International Conference on Communications (ICC)

作者： Lee, Wookjin Choi, Sung Il Jang, Yong Hun Lee, Sang Hyun Korea Univ Sch Elect Engn Seoul South Korea

ISBN: (纸本)9781665426718

This paper develops a distributed algorithm for user association of a rate-splitting multiple access (RSMA) network in the millimeter wave (mmWave) directional beamforming environment. In the RSMA network, hybrid multiple access (HMA) is employed based on beamforming techniques with mmWave transmission so that non-orthogonal and orthogonal multiple access users are allowed to coexist, but all users are not necessarily accessible to each other. Thus, a basic NOMA pairing principle of grouping the largest rate-gap users may not be the best strategy for the user-resource allocation, and the identification of the optimal pairing gives rise to a significant computation complexity. To handle this, a novel distributed solution is developed based on the message-passing framework among locally accessible users for the objective of maximizing the global network sum-throughput utility. To provide the optimality and the convergence of the developed algorithm, a theoretical analysis is conducted along with numerical results evidencing the superiority over existing schemes.

关键词： NOMA Array signal processing Conferences Millimeter wave technology Resource management distributed algorithms Computational complexity

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distributed algorithm for nonsmooth multi-coalition games and its application in electricity markets☆

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AUTOMATICA 2024年 161卷

作者： Deng, Zhenhua Luo, Jin Cent South Univ Sch Automat Changsha 410075 Peoples R China

In this paper, we study distributed nonsmooth multi-coalition games (MCGs), where the players are subject to local convex set constraints and coupled inequality constraints. Different from existing distributed MCGs, our problem involves nonsmooth payoff functions and constraints, relaxes the requirement for communication networks, and only relies on the strict monotonicity of pseudo-gradients. Due to the nonsmoothness of payoff functions and constraints, the weaker communication networks as well as the coexistence of cooperation and competition among players, existing generalized Nash equilibrium (GNE) seeking algorithms cannot solve the problem. Also, they pose obstacles to the algorithm design and analysis, mainly because of the non-global Lipschitz continuity of subgradients and the unconnectedness of subnetworks. To seek the variational GNE (vGNE) of the nonsmooth MCGs, we design a distributed subgradient-based algorithm. We prove that the algorithm converges to the exact vGNE of the nonsmooth MCGs from any initial states. Finally, our result is applied to the electricity market games (EMGs) of smart grids.(c) 2023 Elsevier Ltd. All rights reserved.

关键词： Multi-coalition games Generalized Nash equilibrium distributed algorithms Multi-agent systems Nonsmooth analysis

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distributed Integer Balancing Under Weight Constraints in the Presence of Transmission Delays

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2021年第4期66卷 1910-1917页

作者： Rikos, Apostolos, I Hadjicostis, Christoforos N. KTH Royal Inst Technol Div Decis & Control Syst SE-10044 Stockholm Sweden Univ Cyprus Dept Elect & Comp Engn CY-1678 Nicosia Cyprus

We consider the distributed weight balancing problem in networks of nodes that are interconnected via directed edges, each of which admits a positive integer weight. A digraph with positive integer weights on its edges is weight balanced if, for each node, the sum of the weights of the incoming edges equals the sum of the weights of the outgoing edges. In this article, we develop a distributed iterative algorithm, which solves the integer weight balancing problem in the presence of arbitrary (time-varying and inhomogeneous) time delays that might affect transmissions at particular links. We assume that each positive weight is constrained to lie within a certain interval, captured by individual lower and upper limits and that communication between neighboring nodes is bidirectional. We show that even when different transmissions on communication links are affected from bounded delays, the proposed distributed algorithm allows nodes to obtain a set of weights that solves the integer weight balancing problem, after a finite number of iterations, as long as a feasible solution exists. Finally, we provide examples to illustrate the operation and performance of the proposed algorithm.

关键词： Delays Topology Network topology distributed algorithms Convergence Adaptation models Bidirectional control distributed algorithms flow balancing finite-time convergence weight balancing

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distributed Optimal Allocation with Quantized Communication and Privacy-Preserving Guarantees 4

Distributed Optimal Allocation with Quantized Communication ...

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4th IFAC Workshop on Cyber-Physical and Human Systems (CPHS)

作者： Rikos, Apostolos, I Nylof, Jakob Gracy, Sebin Johansson, Karl H. KTH Royal Inst Technol & Digital Futures Sch Elect Engn & Comp Sci Div Decis & Control Syst Stockholm Sweden Rice Univ Dept Elect & Comp Engn Houston TX 77251 USA

In this paper, we analyze the problem of optimally allocating resources in a distributed and privacy-preserving manner. We propose a novel distributed optimal resource allocation algorithm with privacy-preserving guarantees, which operates over a directed communication network. Our algorithm converges in finite time and allows each node to process and transmit quantized messages. Our algorithm utilizes a distributed quantized average consensus strategy combined with a privacy-preserving mechanism. We show that the algorithm converges in finite-time, and we prove that, under specific conditions on the network topology, nodes are able to preserve the privacy of their initial state. Finally, to illustrate the results, we consider an example where test kits need to be optimally allocated proportionally to the number of infections in a region. It is shown that the proposed privacy-preserving resource allocation algorithm performs well with an appropriate convergence rate under privacy guarantees. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： distributed algorithms Optimal Resource Allocation Privacy-Preservation distributed Optimization

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distributed Fault Detection for Linear Time-Varying Multi-Agent Systems With Relative Output Information

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IEEE ACCESS 2021年 9卷 42933-42946页

作者： Zou, Peilu Wang, Ping Yu, Chengpu Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China Beijing Inst Technol Chongqing Innovat Ctr Chongqing 401147 Peoples R China

This paper investigates the distributed fault detection problem for linear discrete time-varying heterogeneous multi-agent systems under relative output information. Due to the lack of absolute outputs, an augmented model is built by stacking all local relative output information. Then, the fault detection problem consisting of residual-generation and residual-evaluation is handled using the H-infinity filtering framework. The residual-generation problem is actually a minimization problem of an indefinite quadratic form, and the Krein space-Kalman filtering theory is applied, which results in a low computational burden despite the time-varying characteristic. Using the Krein space theory, a necessary and sufficient condition for the minimum is derived, and a residual-generation algorithm is developed. Further, a residual-evaluation mechanism is designed by constructing an evaluation function and detecting faults by comparing it with a threshold. Finally, two illustrative examples are given to demonstrate the effectiveness of the proposed fault detection approach.

关键词： Discrete-time systems distributed algorithms fault detection fault diagnosis filtering theory heterogeneous networks linear systems minimization multi-agent systems time-varying systems

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Crash-Tolerant Exploration of Trees by Energy-Sharing Mobile Agents 28

Crash-Tolerant Exploration of Trees by Energy-Sharing Mobile...

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28th International Conference on Principles of distributed Systems, OPODIS 2024

作者： Bramas, Quentin Masuzawa, Toshimitsu Tixeuil, Sébastien University of Strasbourg ICUBE CNRS France Graduate School of Information Science and Technology Osaka University Japan Sorbonne University CNRS LIP6 Institut Universitaire de France Paris France

ISBN: (纸本)9783959773607

We consider the problem of graph exploration by energy sharing mobile agents that are subject to crash faults. More precisely, we consider a team of two agents where at most one of them may fail unpredictably, and the considered topology is that of connected acyclic graphs (i.e. trees). We consider both the asynchronous and the synchronous settings, and we provide necessary and sufficient conditions about the energy. © Quentin Bramas, Toshimitsu Masuzawa, and Sébastien Tixeuil.

关键词： distributed algorithms Energy sharing Mobile Agents

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Compact distributed Certification of Planar Graphs

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ALGORITHMICA 2021年第7期83卷 2215-2244页

作者： Feuilloley, Laurent Fraigniaud, Pierre Montealegre, Pedro Rapaport, Ivan Remila, Eric Todinca, Ioan Univ Adolfo Ibanez Fac Ingn & Ciencias Santiago Chile Univ Lyon 1 Univ Lyon LIRIS UMR CNRS 5205 F-69621 Lyon France Univ Paris CNRS IRIF Paris France Univ Chile DIM CMM UMI 2807CNRS Santiago Chile UJM UMR CNRS 5824 GATE Lyon St Etienne St Etienne France Univ Orleans LIFO INSA Ctr Val Loire Orleans France

Naor M., Parter M., Yogev E.: (The power of distributed verifiers in interactive proofs. In: 31st ACM-SIAM symposium on discrete algorithms (SODA), pp 1096-115, 2020. https://***/10.1137/1.9781611975994.67) have recently demonstrated the existence of a distributed interactive proof for planarity (i.e., for certifying that a network is planar), using a sophisticated generic technique for constructing distributed IP protocols based on sequential IP protocols. The interactive proof for planarity is based on a distributed certification of the correct execution of any given sequential linear-time algorithm for planarity testing. It involves three interactions between the prover and the randomized distributed verifier (i.e., it is a dMAM protocol), and uses small certificates, on O(log n) bits in n-node networks. We show that a single interaction with the prover suffices, and randomization is unecessary, by providing an explicit description of a proof-labeling scheme for planarity, still using certificates on just O(log n) bits. We also show that there are no proof-labeling schemes-in fact, even no locally checkable proofs-for planarity using certificates on o(log n) bits.

关键词： distributed algorithms Network algorithms Graph property certification Labeling schemes Planarity

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distributed Algorithm Design for Resource Allocation Problems of Second-Order Multiagent Systems Over Weight-Balanced Digraphs

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2021年第6期51卷 3512-3521页

作者： Deng, Zhenhua Cent South Univ Sch Automat Changsha 410075 Peoples R China

This paper studies two distributed resource allocation problems of second-order systems over weight-balanced communication networks. In the first problem, the decisions of agents are coupled by network resource constraints, and in the second problem, the decisions of agents are constrained by local constraints and network resource constraints. Compared with many existing resource allocation problems, the formulation involves the dynamics of agents. The second-order dynamics of agents induce the difficult in algorithm design and analysis, since the decisions of agents could not be directly decided by their control inputs. In order to optimally allocate the network resource, two distributed algorithms are designed via state feedback and gradient descent for the two problems, respectively. Besides, the convergence of the two algorithms are analyzed. By the two algorithms, the second-order agents converge to the optimal allocation of the two problems, respectively. Finally, two examples about economic dispatch problems verify the two algorithms.

关键词： Resource management distributed algorithms Heuristic algorithms Optimization Multi-agent systems Convergence Communication networks distributed optimization multiagent systems projected dynamical systems resource allocation second-order systems weight-balanced digraphs

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