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Coordination of multi-agent systems with intermittent access to a cloud repository
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.ORCID-id: 0000-0001-9940-5929
2017 (engelsk)Inngår i: Workshop on Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, 2017, Springer, 2017, Vol. 474, s. 453-471Konferansepaper, Publicerat paper (Fagfellevurdert)
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.

sted, utgiver, år, opplag, sider
Springer, 2017. Vol. 474, s. 453-471
Serie
Lecture Notes in Control and Information Sciences, ISSN 0170-8643 ; 474
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-210006DOI: 10.1007/978-3-319-55372-6_21Scopus ID: 2-s2.0-85020465397ISBN: 9783319553719 (tryckt)OAI: oai:DiVA.org:kth-210006DiVA, id: diva2:1116920
Konferanse
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
Merknad

QC 20170628

Tilgjengelig fra: 2017-06-28 Laget: 2017-06-28 Sist oppdatert: 2017-06-28bibliografisk kontrollert

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