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Coordination of multi-agent systems with intermittent access to a cloud repository
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.ORCID iD: 0000-0001-9940-5929
2017 (English)In: Workshop on Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, 2017, Springer, 2017, Vol. 474, 453-471 p.Conference paper, Published paper (Refereed)
Abstract [en]

A cloud-supported multi-agent system is composed of autonomous agents required to achieve a common coordination objective by exchanging data over a shared cloud repository. The repository is accessed asychronously by different agents, and direct inter-agent commuication is not possible. This model is motivated by the problem of coordinating a fleet of autonomous underwater vehicles, with the aim to avoid the use of expensive and power-hungry modems for underwater communication. For the case of agents with integrator dynamics, a control law and a rule for scheduling the cloud access are formally defined and proven to achieve the desired coordination. A numerical simulation corroborate the theoretical results.

Place, publisher, year, edition, pages
Springer, 2017. Vol. 474, 453-471 p.
Series
Lecture Notes in Control and Information Sciences, ISSN 0170-8643 ; 474
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-210006DOI: 10.1007/978-3-319-55372-6_21Scopus ID: 2-s2.0-85020465397ISBN: 9783319553719 (print)OAI: oai:DiVA.org:kth-210006DiVA: diva2:1116920
Conference
Workshop on Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, 2017, Alesund, Norway, 20 June 2017 through 22 June 2017
Note

QC 20170628

Available from: 2017-06-28 Created: 2017-06-28 Last updated: 2017-06-28Bibliographically approved

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Adaldo, AntonioDimarogonas, Dimos V.Johansson, Karl Henrik
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CiteExportLink to record
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  • apa
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