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A hybrid systems framework for multi agent task planning and control
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
2017 (English)In: Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 1181-1186, article id 7963113Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we investigate the coordination of a multi-agent system to achieve a high level plan. In, particular, we assume that this planning is decomposed in a sequence of simple control objectives. The coordination is carried out through event-based communications between the agents, and distributed control laws are synthesized to achieve each control objective according to a time-constraint. All the elements (planning, motion, and communication) are integrated in a hybrid systems framework, which also allows to conclude about the achievement of the high level plan.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 1181-1186, article id 7963113
Series
Proceedings of the American Control Conference, ISSN 0743-1619
Keywords [en]
Distributed parameter control systems, Hybrid systems, Systems engineering
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-212473DOI: 10.23919/ACC.2017.7963113ISI: 000427033301038Scopus ID: 2-s2.0-85026996773ISBN: 9781509059928 (print)OAI: oai:DiVA.org:kth-212473DiVA, id: diva2:1135388
Conference
2017 American Control Conference, ACC 2017, Sheraton Seattle Hotel, Seattle, United States, 24 May 2017 through 26 May 2017
Funder
EU, Horizon 2020Swedish Research CouncilKnut and Alice Wallenberg FoundationSwedish Foundation for Strategic Research
Note

QC 20170823

Available from: 2017-08-23 Created: 2017-08-23 Last updated: 2018-04-10Bibliographically approved

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf