Multi-agent coordination: fluid-inspired and optimal control approaches

Multiagent coordination;Formation control;Networked control;Optimal control;Preference learning;Time warping;Output warping;Space warping

Kingston, Peter ; Electrical and Computer Engineering

University:Georgia Institute of Technology

Department:Electrical and Computer Engineering

关键词: Multiagent coordination;    Formation control;    Networked control;    Optimal control;    Preference learning;    Time warping;    Output warping;    Space warping;   

Others  :  https://smartech.gatech.edu/bitstream/1853/43714/1/kingston_peter_m_201205_phd.pdf

美国|英语

来源: SMARTech Repository

【 摘 要 】

Multiagent coordination problems arise in a variety of applications, from satellite constellations and formation flight, to air traffic control and unmanned vehicle teams.We investigate the coordination of mobile agents using two kinds of approaches.In the first, which takes its inspiration from fluid dynamics and algebraic topology, control authority is split between mobile agents and a network of static infrastructure nodes - like wireless base stations or air traffic control towers - and controllers are developed that distribute their computation throughout this network.In the second, we look at networks of interconnected mechanical systems, and develop novel optimal control algorithms, which involve the computation of optimal deformations of time- and output- spaces, to achieve approximate formation tracking.Finally, we investigate algorithms that optimize these controllers to meet subjective criteria of humans.