Journal article
Fault Tolerant, Scalable Multi-Agent Control Under Medium Access Constraints
IFAC Proceedings Volumes, Vol.41(2), pp.6608-6613
2008
DOI: 10.3182/20080706-5-KR-1001.01114
Abstract
This paper extends our earlier work presented at the last IFAC World Congress that concerned the fault tolerant, distributed, scalable control of a group of agents that must move in a formation specified by relative positions between agents and a constant formation velocity. The control law we had proposed naturally accommodated various levels of fault tolerance and scalability and required an amount of inter-agent communication that was commensurate with a designated level of fault tolerance. The control law assumed, however, that this exchange of information occurred simultaneously. In practice communications must occur under Medium Access Control (MAC) constraints. Thus no agent can transmit and receive at the same time, and cannot transmit to another agent who is receiving information from yet another. We modify our earlier control algorithm so that such MAC constraints are respected, and provide a stability analysis of this modified control law.
Details
- Title: Subtitle
- Fault Tolerant, Scalable Multi-Agent Control Under Medium Access Constraints
- Creators
- Manish Vemulapalli - University of IowaSoura Dasgupta - University of IowaJon G Kuhl - University of Iowa
- Resource Type
- Journal article
- Publication Details
- IFAC Proceedings Volumes, Vol.41(2), pp.6608-6613
- DOI
- 10.3182/20080706-5-KR-1001.01114
- ISSN
- 1474-6670
- Language
- English
- Date published
- 2008
- Academic Unit
- Electrical and Computer Engineering; Public Policy Center (Archive)
- Record Identifier
- 9984198009902771
Metrics
10 Record Views