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Distributed Mobility and Power Control for Noncooperative Robotic Ad Hoc and Sensor Networks
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
2011 (English)In: 2011 50th Conference On Decision And Control And European Control Conference  (CDC-ECC), IEEE , 2011, 2938-2943 p.Conference paper (Refereed)
Abstract [en]

In this paper we propose novel algorithms for noncooperative power and position control in mobile ad hoc networks. The algorithms are distributed and adaptive, i.e., they are able to deal with the agents' lack of knowledge about the environmental conditions and about the actions, positions and properties of the other agents, which is the essential challenge in these networks. The agents' cost functions consist of a term proportional to the achievable rate of communication with the neighbors, explicitly depending on the interference from the other agents, and a pricing term penalizing excessive power (for the power control scheme) or deviation from predefined positions (for the position control scheme). We formulate conditions for the existence and uniqueness of the Nash equilibrium and prove that the algorithms converge to it almost surely, based only on local measurements and local signaling between the neighbors. The position control algorithm can be adopted to specific motion dynamics of the networked mobile robots. We illustrate the main properties of the algorithms through simulations.

Place, publisher, year, edition, pages
IEEE , 2011. 2938-2943 p.
, IEEE Conference on Decision and Control. Proceedings, ISSN 0191-2216
Keyword [en]
Achievable rate, Ad hoc and sensor networks, Environmental conditions, Existence and uniqueness, Local measurement, Motion dynamics, Nash equilibria, Networked mobile robots, Novel algorithm, Power control schemes, Pre-defined position
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-72953DOI: 10.1109/CDC.2011.6161177ISI: 000303506203088ScopusID: 2-s2.0-84860654510ISBN: 978-161284800-6OAI: diva2:488370
2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC) Orlando, FL, USA, December 12-15, 2011

QC 20120413

Available from: 2012-02-01 Created: 2012-02-01 Last updated: 2013-12-13Bibliographically approved

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Stankovic, Milos S.Johansson, Karl H.
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