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Formation control of autonomous robots based on cooperative behavior 10

Formation control of autonomous robots based on cooperative ...

引用

2009 10th European control Conference, ECC 2009

作者： Dorfler, Florian Francis, Bruce Center for Control Dynamical Systems and Computation University of California at Santa Barbara Santa BarbaraCA93106 United States Electrical and Computer Engineering Department University of Toronto TorontoM5S3G4 Canada

ISBN: (纸本)9783952417393

This paper considers the formation control problem for autonomous robots, where the target formation is specified as a minimally rigid formation. A distributed control law based on potential functions is derived from a directed sensor graph and relies on the graph matrices only. By methods of inverse optimality a certain class of sensor graphs is identified that is related to a cooperative behavior among the robots. These graphs are referred to as cooperative graphs, and undirected graphs, directed cycles, and directed open chain graphs can be identified as such graphs. Cooperative graphs admit a local stability result of the target formation together with a guaranteed region of attraction, that depends on the rigidity properties of the formation. © 2009 EUCA.

关键词： Robots

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L2-induced Gain Analysis for a class of Switched Systems

L2-induced Gain Analysis for a class of Switched Systems

引用

Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Kenji Hirata Joo P.Hespanha Department of Mechanical Engineering Nagaoka University of Technology Center for Control Dynamical Systemsand Computationand the Department of Electrical and Computer EngineeringUniversity of California

This paper addresses the computation of the L-induced gain for a class of switched *** main contribution of the paper is to completely characterize the induced gain of the switched system through a system of differential inequalities on a common storage function,one for each system being *** motivation for computing the induced gain of a switched system is the application of robust stability tools to the analysis of hybrid systems.

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Standard Dynamic Programming Applied to Time Aggregated Markov Decision Processes

Standard Dynamic Programming Applied to Time Aggregated Mark...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Edilson F.Arruda Marcelo D.Fragoso the School of Engineering Pontifical Catholic University of Rio Grande do Sul. the National Laboratory for Scientific Computation Center for Systems and Control.

In this note we address the time aggregation approach to ergodic finite state Markov decision processes with uncontrollable *** propose the use of the time aggregation approach as an intermediate step toward constructing a transformed MDP whose state space is comprised solely of the controllable *** proposed approach simplifies the iterative search for the optimal solution by eliminating the need to define an equivalent parametric function,and results in a problem that can be solved by simpler,standard MDP algorithms.

关键词： Markov Decision Processes Time Aggregation Dynamic Programing

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ℒ2-induced gain analysis for a class of switched systems

ℒ2-induced gain analysis for a class of switched systems

引用

IEEE Conference on Decision and control

作者： Kenji Hirata João P. Hespanha Department of Mechanical Engineering Nagaoka University of Technology Nagaoka Japan Center for Control Dynamical Systems and Computation and the Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

This paper addresses the computation of the L 2 -induced gain for a class of switched systems. The main contribution of the paper is to completely characterize the induced gain of the switched system through a system of differential inequalities on a common storage function, one for each system being switched. The motivation for computing the induced gain of a switched system is the application of robust stability tools to the analysis of hybrid systems.

关键词： Switched systems Sufficient conditions Asymptotic stability Riccati equations Difference equations Linear systems control systems Observability Robust stability Logic

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Redundant Data Transmission in control/Estimation Over Wireless Networks

Redundant Data Transmission in Control/Estimation Over Wirel...

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2009 American control Conference (ACC 2009)

作者： Alexandre Rodrigues Mesquita Joao Pedro Hespanha Girish Nair Center for Control Dynamical Systems and Computation University of California Santa Barbara CA 93106 Departament of Electrical and Electronic Engineering University of Melbourne VIC 3010 Australia

ISBN: (纸本)9781424445233

In wireless networks the probability of successful communication can be significantly increased by transmitting multiple copies of a same packet. Communication protocols that exploit this by dynamically assigning the number of transmitted copies of the same data can significantly improve the control performance in a networked control system with only a modest increase in the total number of transmissions. In this paper we develop techniques to design communication protocols that exploit multiple packets transmissions while seeking a balance between stability/estimation performance and communication rate. An average cost optimality criterion is employed to obtain optimal protocols. Optimal protocols are also obtained for networks whose nodes are subject to limited computation.

关键词： Wireless networks control performance data transmission redundant data Networked control systems Communication protocols protocols Transmissions transmission copying packet communications Ganglia

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Formation control of autonomous robots based on cooperative behavior

Formation control of autonomous robots based on cooperative ...

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European control Conference (ECC)

作者： Florian Dörfler Bruce Francis Center for Control Dynamical Systems and Computation University of California at Santa Barbara Santa Barbara CA USA Electrical and Computer Engineering Department University of Toronto Toronto Canada

关键词： Robot sensing systems Stability analysis Optimal control Vectors Mobile robots Aerospace electronics

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Quadratic indices for the analysis of consensus algorithms

Quadratic indices for the analysis of consensus algorithms

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Information Theory and Applications Workshop, ITA

作者： Ruggero Carli Federica Garin Sandro Zampieri Center of Control Dynamical Systems and Computation University of California슠Santa Barbara Santa Barbara CA USA DEI Department of Information Engineering Università di Padova Padova Italy

ISBN: (纸本)9781424439904

Average-consensus algorithms allow to compute the average of some agents' data in a distributed way, and they are used as a basic building block in algorithms for distributed estimation, load balancing, formation and distributed control. Traditional analysis of linear average-consensus algorithms studies, for a given communication graph, the convergence rate, given by the essential spectral radius of the transition matrix (i.e. the second largest eigenvalues' modulus). For many graph families, such analysis predicts a performance which degrades when the number of agents grows, basically because spreading information across a larger graph requires a longer time. However, if you consider other well-known quadratic performance indices (involving all the eigenvalues of the transition matrix), the scaling law with respect to the number of agents can be different. This is consistent with the fact that, in many applications, for example in estimation problems, it is natural to expect that a larger number of cooperating agents has a positive, not a negative effect on performance. In this paper, we consider two different quadratic indices, which arise naturally from some estimation and control problems in which the consensus algorithm is used. We provide analytical results on their asymptotic behavior when the communication network belongs to some families of Cayley graphs. This framework includes grids on toruses in arbitrary dimensions, which are conjectured to be a good approximation of random geometric graphs; indeed, we show simulation results supporting this conjecture.

关键词： Algorithm design and analysis Eigenvalues and eigenfunctions Distributed computing Load management Distributed control Convergence Information analysis Performance analysis Degradation Communication system control

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Equitable partitioning policies for robotic networks

Equitable partitioning policies for robotic networks

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Marco Pavone Alessandro Arsie Emilio Frazzoli Francesco Bullo Laboratory for Information and Decision Systems Department of Aeronautics and Astronautics Massachusetts Institute of Technology Cambridge USA Department of Mathematics Pennsylvania State University USA Center for Control Engineering and Computation University of California슠Santa Barbara USA

The most widely applied resource allocation strategy is to balance, or equalize, the total workload assigned to each resource. In mobile multi-agent systems, this principle directly leads to equitable partitioning policies in which (i) the workspace is divided into subregions of equal measure, (ii) there is a bijective correspondence between agents and subregions, and (iii) each agent is responsible for service requests originating within its own subregion. In this paper, we provide the first distributed algorithm that provably allows m agents to converge to an equitable partition of the workspace, from any initial configuration, i.e., globally. Our approach is related to the classic Lloyd algorithm, and provides novel insights into the properties of power diagrams. Simulation results are presented and discussed.

关键词： Robots Partitioning algorithms Resource management Multiagent systems Robotics and automation Extraterrestrial measurements Vehicle dynamics Aerodynamics Convergence computational geometry

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Dynamic Multi-Vehicle Routing with Multiple Classes of Demands

Dynamic Multi-Vehicle Routing with Multiple Classes of Deman...

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2009 American control Conference (ACC 2009)

作者： Marco Pavone Stephen L. Smith Francesco Bullo Emilio Frazzoli Laboratory for Information and Decision Systems Aeronautics and Astronautics Department Massachusetts Institute of Technology Cambridge MA 02139 USA Center for Control Dynamical Systems and Computation Department of Mechanical Engineering University of California Santa Barbara CA 93106 USA

ISBN: (纸本)9781424445233

In this paper we study a dynamic vehicle routing problem in which there are multiple vehicles and multiple classes of demands. Demands of each class arrive in the environment randomly over time and require a random amount of on-site service that is characteristic of the class. To service a demand, one of the vehicles must travel to the demand location and remain there for the required on-site service time. The quality of service provided to each class is given by the expected delay between the arrival of a demand in the class, and that demand's service completion. The goal is to design a routing policy for the service vehicles which minimizes a convex combination of the delays for each class. First, we provide a lower bound on the achievable values of the convex combination of delays. Then, we propose a novel routing policy and analyze its performance under heavy load conditions (i.e., when the fraction of time the service vehicles spend performing on-site service approaches one). The policy performs within a constant factor of the lower bound (and thus the optimal), where the constant depends only on the number of classes, and is independent of the number of vehicles, the arrival rates of demands, the on-site service times, and the convex combination coefficients.

关键词： service vehicles Vehicle routing vehicle Network routing site and service arrival rate Heavy loads Convexity Classes Policies Lower bound Quality of service

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Noise suppression in auto-regulatory gene networks

Noise suppression in auto-regulatory gene networks

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IEEE Conference on Decision and control

作者： Abhyudai Singh Joao Pedro Hespanha Center for Control Engineering and Computation University of California Santa Barbara CA USA

ISBN: (纸本)9781424431236

Living cells are characterized by small populations of key molecular components that have large stochastic noise associated with them. Various gene network motifs exist within cells that help reduce these stochastic fluctuations. A common such motif is an auto-regulatory gene network where the protein expressed from the gene inhibits its own transcription. Here the transcription rate of the gene is given as some function of the number of protein molecules present in the cell. We refer to this function as the transcriptional response of the gene network. We develop analytical formulas that relate the stochastic fluctuations in protein numbers with the functional form of the transcriptional response. This is done by first approximating the transcriptional response by a polynomial and then using recently developed moment closure techniques to solve for the statistical moments of the protein population. We show that the protein noise level in these auto-regulatory gene networks is related to the stability of the network and increasing (decreasing) stability leads to attenuation (magnification) of protein noise. Using the above formulas we also investigate the transcriptional response of a specific gene network in lambda phage and show that this network is especially effective at reducing stochastic fluctuations in protein levels.

关键词： Fluctuations Stochastic resonance Stochastic processes Protein engineering Stability Gene expression Noise level Degradation Steady-state Negative feedback

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