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Multi-Agent Trajectory Tracking with Self-Triggered Cloud Access
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
2016 (English)In: 2016 IEEE 55th Conference on Decision and Control, CDC 2016, Institute of Electrical and Electronics Engineers (IEEE), 2016, 2207-2214 p., 7798591Conference paper (Refereed)
Abstract [en]

This paper presents a cloud-supported control algorithm for coordinated trajectory tracking of networked autonomous agents. The motivating application is the coordinated control of Autonomous Underwater Vehicles. The control objective is to have the vehicles track a reference trajectory while keeping an assigned formation. Rather than relying on inter-agent communication, which is interdicted underwater, coordination is achieved by letting the agents intermittently access a shared information repository hosted on a cloud. An event-based law is proposed to schedule the accesses of each agent to the cloud. We show that, with the proposed scheduling of the cloud accesses, the agents achieve the required coordination objective. Numerical simulations corroborate the theoretical results.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016. 2207-2214 p., 7798591
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-208628DOI: 10.1109/CDC.2016.7798591ISI: 000400048102063ScopusID: 2-s2.0-85010739237ISBN: 978-1-5090-1837-6 OAI: oai:DiVA.org:kth-208628DiVA: diva2:1107453
Conference
55th IEEE Conference on Decision and Control, CDC 2016, ARIA Resort and CasinoLas Vegas, United States, 12 December 2016 through 14 December 2016
Funder
EU, Horizon 2020, 644128Swedish Foundation for Strategic Research Swedish Research CouncilKnut and Alice Wallenberg Foundation
Note

QC 20170609

Available from: 2017-06-09 Created: 2017-06-09 Last updated: 2017-06-09Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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More styles
Language
  • de-DE
  • en-GB
  • en-US
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Output format
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