COORDINATED FAULT-TOLERANT CONTROL OF AUTONOMOUS AGENTS: GEOMETRY AND COMMUNICATIONS ARCHITECTURE

Ryan O Abel; Soura Dasgupta; Jon G Kuhl

doi:10.3182/20050703-6-CZ-1902.02082

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COORDINATED FAULT-TOLERANT CONTROL OF AUTONOMOUS AGENTS: GEOMETRY AND COMMUNICATIONS ARCHITECTURE

Journal article

Open access

Peer reviewed

COORDINATED FAULT-TOLERANT CONTROL OF AUTONOMOUS AGENTS: GEOMETRY AND COMMUNICATIONS ARCHITECTURE

Ryan O Abel, Soura Dasgupta and Jon G Kuhl

IFAC Proceedings Volumes, Vol.38(1), pp.179-184

2005

DOI: 10.3182/20050703-6-CZ-1902.02082

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Abstract

A one step ahead optimization based control of autonomous agents is proposed. Each agent is modeled as a double integrator. We only define a geometric topology for the agent formation, and by correctly choosing the cost function, show that our algorithm produces a communication topology mirroring the geometric topology. By providing some redundancy in the formation topology it is possible for the system to survive the loss of an agent. Other attractions of the scheme are scalability, the requirement of only local knowledge of the desired formation topology and ease of reconfiguration in the face of loss of agents and/or channels.

Automated guided vehicles

Co-operative control

Decentralized control

Fault tolerance

Stability

Details

Title: Subtitle: COORDINATED FAULT-TOLERANT CONTROL OF AUTONOMOUS AGENTS: GEOMETRY AND COMMUNICATIONS ARCHITECTURE
Creators: Ryan O Abel - University of Iowa
Soura Dasgupta - University of Iowa
Jon G Kuhl - University of Iowa
Resource Type: Journal article
Publication Details: IFAC Proceedings Volumes, Vol.38(1), pp.179-184
DOI: 10.3182/20050703-6-CZ-1902.02082
ISSN: 1474-6670
Language: English
Date published: 2005
Academic Unit: Electrical and Computer Engineering; Public Policy Center (Archive)
Record Identifier: 9984197450202771

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