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Decentralized abstractions for multi-agent systems under coupled constraints
KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.ORCID-id: 0000-0001-7309-8086
2019 (engelsk)Inngår i: European Journal of Control, ISSN 0947-3580, E-ISSN 1435-5671, Vol. 45, s. 1-16Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

The goal of this paper is to define abstractions for multi-agent systems with feedback interconnection in their dynamics. In the proposed decentralized framework, we specify a finite or countable transition system for each agent which only takes into account the discrete positions of its neighbors. The dynamics of each agent consist of a feedback component which can guarantee certain system and network requirements and induces the coupled constraints, and additional input terms, which can be exploited for high level planning. In this work, we provide sufficient conditions for space and time discretizations which enable the abstraction of the system's behavior through a discrete transition system. Furthermore, these conditions include design parameters whose tuning provides the possibility for multiple transitions, and hence, the construction of transition systems with motion planning capabilities. Published by Elsevier Ltd. All rights reserved.

sted, utgiver, år, opplag, sider
ELSEVIER SCIENCE BV , 2019. Vol. 45, s. 1-16
Emneord [en]
Abstractions, Multi-agent systems, Hybrid systems
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-244127DOI: 10.1016/j.ejcon.2018.10.002ISI: 000457515100001Scopus ID: 2-s2.0-85055754925OAI: oai:DiVA.org:kth-244127DiVA, id: diva2:1289523
Merknad

QC 20190218

Tilgjengelig fra: 2019-02-18 Laget: 2019-02-18 Sist oppdatert: 2019-05-02bibliografisk kontrollert

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