A Switched Systems Approach to Consensus of a Distributed Multi-agent System with Intermittent Communication

Zegers, Federico M.; Chen, Hsi-Yuan; Deptula, Patryk; Dixon, Warren E.

doi:10.23919/acc.2019.8815353

Cited by 11 publications

(14 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Similar to [10], we adopt the following assumptions. Assumption 1: The state estimatex i is initialized aŝ…”

Section: State Observer and Error Dynamicsmentioning

confidence: 99%

“…] is the control inputs of the relay agent, the input values are constrained to [u 0,min , u 0,max ], Ā0 , B0 , C0 , Ā, B and C are converted from A 0 , B 0 , C 0 , A, B and C respectively for the discretetime state-space representation, and u j i are control inputs of explorer i from (8). Note that we only require the trajectory y : +N −1 0 to weakly satisfy φ as + N − 1 may be less than the necessary length L(φ).…”

Section: Controller Synthesis With Intermittent Communication and Mtl...mentioning

confidence: 99%

“…However, these results usually require a network represented by a strongly connected graph to enable agent coordination. In [8], the authors provided a framework where a set of explorers operating with inaccurate position sensors are able to reach consensus at a desired state while a relay agent intermittently provides each explorer with state information. By introducing a relay agent, the explorers are able to perform their tasks without the need to perform additional maneuvers to obtain state information.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Controller Synthesis for Multi-Agent Systems With Intermittent Communication. A Metric Temporal Logic Approach

Zegers

Dixon

et al. 2019

2019 57th Annual Allerton Conference on Communication, Control, and Computing (Allerton)

Self Cite

View full text Add to dashboard Cite

This paper develops a controller synthesis approach for a multi-agent system (MAS) with intermittent communication. We adopt a leader-follower scheme, where a mobile leader with absolute position sensors switches among a set of followers without absolute position sensors to provide each follower with intermittent state information. We model the MAS as a switched system. The followers are to asymptotically reach a predetermined consensus state. To guarantee the stability of the switched system and the consensus of the followers, we derive maximum and minimal dwell-time conditions to constrain the intervals between consecutive time instants at which the leader should provide state information to the same follower. Furthermore, the leader needs to satisfy practical constraints such as charging its battery and staying in specific regions of interest. Both the maximum and minimum dwell-time conditions and these practical constraints can be expressed by metric temporal logic (MTL) specifications. We iteratively compute the optimal control inputs such that the leader satisfies the MTL specifications, while guaranteeing stability and consensus of the followers. We implement the proposed method on a case study with three mobile robots as the followers and one quadrotor as the leader. I. INTRODUCTIONCoordination strategies for multi-agent systems (MAS) have been traditionally designed under the assumption that state feedback is continuously available. However, continuous communication over a network is often impractical, especially in mobile robot applications where shadowing and fading in the wireless communication can cause unreliability, and each agent has limited energy resources [1], [2].Due to these constraints, there is a strong interest in developing MAS coordination methods that rely on intermittent information over a communication network. The results in [3]-[8] develop event-triggered and self-triggered controllers that utilize sampled data from networked agents only when triggered by conditions that ensure desired stability and performance properties. However, these results require a network represented by a strongly connected graph to enable agent coordination. This requirement of a strongly connected network induces constraints on the motion of the individual agents and additional maneuvers that may deviate from their primary purpose. Event-triggered and self-triggered control

show abstract

“…Similar to [10], we adopt the following assumptions. Assumption 1: The state estimatex i is initialized aŝ…”

Section: State Observer and Error Dynamicsmentioning

confidence: 99%

Section: Controller Synthesis With Intermittent Communication and Mtl...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Controller Synthesis for Multi-Agent Systems With Intermittent Communication. A Metric Temporal Logic Approach

Zegers

Dixon

et al. 2019

2019 57th Annual Allerton Conference on Communication, Control, and Computing (Allerton)

Self Cite

View full text Add to dashboard Cite

show abstract

“…However, absolute state measurements with respect to the global coordinate system is not needed. A general assumption made for formation control communication is that all agent's position, trajectory or dynamics should be partially or fully observable [3], [32].…”

Section: Continuous Controlmentioning

confidence: 99%

Adaptive Leader-Follower Formation Control and Obstacle Avoidance via Deep Reinforcement Learning

Zhou

Lü

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Self Cite

View full text Add to dashboard Cite

We propose a deep reinforcement learning (DRL) methodology for the tracking, obstacle avoidance, and formation control of nonholonomic robots. By separating vision-based control into a perception module and a controller module, we can train a DRL agent without sophisticated physics or 3D modeling. In addition, the modular framework averts daunting retrains of an image-to-action end-to-end neural network, and provides flexibility in transferring the controller to different robots. First, we train a convolutional neural network (CNN) to accurately localize in an indoor setting with dynamic foreground/background. Then, we design a new DRL algorithm named Momentum Policy Gradient (MPG) for continuous control tasks and prove its convergence. We also show that MPG is robust at tracking varying leader movements and can naturally be extended to problems of formation control. Leveraging reward shaping, features such as collision and obstacle avoidance can be easily integrated into a DRL controller. † Equal contribution.

show abstract

“…Although the bus standards are different and the core requirements of the line connection rules are different, the structure of the single chip microcomputer communication system can be described through the network and displayed based on the communication model. 4 2. The communication interface mainly receives the digital level signal and evaluates the communication effect based on the core level.…”

mentioning

confidence: 99%

Deep learning‐driven distributed communication systems for cluster online educational platform considering human–computer interaction

Zhou

2021

Int J Communication

View full text Add to dashboard Cite

The wireless network environment has become increasingly complex, diverse, and dynamic. In recent years, the introduction of new concepts such as green networks and smart networks has diversified the optimization objectives of the spectrum resource management. Under this background, this paper proposes the novel deep learning-driven distributed communication systems for cluster online educational platform considering human-computer interaction. Before the modeling, the literature review and the state-of-the-art methodologies are introduced. For the framework design, first, the novel distributed communication system is designed considering the integration of the Q-learning under the deep neural network structure. Then, the cluster computing model is integrated for the system to enhance the robustness. Later, the human-computer interaction together with the movement tracking models is proposed to finalize the interactive online platform. The simulation results show that the proposed algorithm can extract the information accurately, and transmission efficiency is guaranteed. Compared with the latest platforms, the proposed outperforms from the aspects of accuracy and efficiency.

show abstract

A Switched Systems Approach to Consensus of a Distributed Multi-agent System with Intermittent Communication

Cited by 11 publications

References 18 publications

Controller Synthesis for Multi-Agent Systems With Intermittent Communication. A Metric Temporal Logic Approach

Controller Synthesis for Multi-Agent Systems With Intermittent Communication. A Metric Temporal Logic Approach

Adaptive Leader-Follower Formation Control and Obstacle Avoidance via Deep Reinforcement Learning

Deep learning‐driven distributed communication systems for cluster online educational platform considering human–computer interaction

Contact Info

Product

Resources

About