Shaping up crowd of agents through controlling their statistical moments
2015 (English)In: 2015 European Control Conference, ECC 2015, Institute of Electrical and Electronics Engineers (IEEE), 2015, 1017-1022 p.Conference paper (Refereed)Text
In a crowd model based on leader-follower interactions, where positions of the leaders are viewed as the control input, up-to-date solutions rely on knowledge of the agents' coordinates. In practice, it is more realistic to exploit knowledge of statistical properties of the group of agents, rather than their exact positions. In order to shape the crowd, we study thus the problem of controlling the moments instead, since it is well known that shape can be determined by moments. An optimal control for the moments tracking problem is obtained by solving a modified Hamilton-Jacobi-Bellman (HJB) equation, which only uses the moments and leaders' states as feedback. The optimal solution can be solved fast enough for on-line implementations.
Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2015. 1017-1022 p.
Crowd modeling, Hamilton-Jacobi-Bellman equations, Leader-follower, Optimal controls, Optimal solutions, Statistical moments, Statistical properties, Tracking problem, Control
IdentifiersURN: urn:nbn:se:kth:diva-186825DOI: 10.1109/ECC.2015.7330674ScopusID: 2-s2.0-84963863749ISBN: 9783952426937OAI: oai:DiVA.org:kth-186825DiVA: diva2:938167
European Control Conference, ECC 2015, 15 July 2015 through 17 July 2015
QC 201606162016-06-162016-05-132016-06-16Bibliographically approved