Cooperative control of multi-agent systems : theory and applications / edited by Yue Wang [and three others].

Format:

Book

Contributor:

Wang, Yue, editor.

Language:

English

Subjects (All):

Multiagent systems--Control.

Multiagent systems.

Physical Description:

1 online resource (295 pages) : illustrations

Edition:

1st ed.

Place of Publication:

Hoboken, New Jersey : Wiley, 2017.

Summary:

A comprehensive review of the state of the art in the control of multi-agent systems theory and applications The superiority of multi-agent systems over single agents for the control of unmanned air, water and ground vehicles has been clearly demonstrated in a wide range of application areas. Their large-scale spatial distribution, robustness, high scalability and low cost enable multi-agent systems to achieve tasks that could not successfully be performed by even the most sophisticated single agent systems. Cooperative Control of Multi-Agent Systems: Theory and Applications provides a wide-ranging review of the latest developments in the cooperative control of multi-agent systems theory and applications. The applications described are mainly in the areas of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). Throughout, the authors link basic theory to multi-agent cooperative control practice - illustrated within the context of highly-realistic scenarios of high-level missions - without losing site of the mathematical background needed to provide performance guarantees under general working conditions. Many of the problems and solutions considered involve combinations of both types of vehicles. Topics explored include target assignment, target tracking, consensus, stochastic game theory-based framework, event-triggered control, topology design and identification, coordination under uncertainty and coverage control. * Establishes a bridge between fundamental cooperative control theory and specific problems of interest in a wide range of applications areas * Includes example applications from the fields of space exploration, radiation shielding, site clearance, tracking/classification, surveillance, search-and-rescue and more * Features detailed presentations of specific algorithms and application frameworks with relevant commercial and military applications * Provides a comprehensive look at the latest developments in this rapidly evolving field, while offering informed speculation on future directions for collective control systems The use of multi-agent system technologies in both everyday commercial use and national defense is certain to increase tremendously in the years ahead, making this book a valuable resource for researchers, engineers, and applied mathematicians working in systems and controls, as well as advanced undergraduates and graduate students interested in those areas.

Contents:

Cover

Title Page

Copyright

Contents

List of Contributors

Preface

Acknowledgment

Chapter 1 Introduction

1.1 Introduction

1.2 Chapter Summary and Contributions

References

Chapter 2 Sensor Placement Algorithms for a Path Covering Problem

2.1 Problem Statement

2.2 Algorithm Approx1

2.2.1 Algorithm for Targets That Lie Within a Strip

2.2.2 Algorithm for a General Set of Points

2.2.3 Proof of the Approximation Ratio

2.3 Algorithm Approx2

2.4 Numerical Results

2.5 Conclusions

Chapter 3 Robust Coordination of Small UAVs for Vision-Based Target Tracking Using Output-Feedback MPC with MHE

3.1 Vision-Based Target Tracking

3.2 Problem Formulation

3.2.1 UAV Dynamics

3.2.2 Target Dynamics and Overall State Space

3.2.3 Measurement Error Models

3.3 Robust Output-Feedback MPC/MHE

3.4 Simulation Results

3.4.1 Constant-Velocity Target

3.4.2 Evasive Target

3.4.3 Experimental Target Log

3.5 Conclusion and Future Work

Chapter 4 Projection-Based Consensus for Time-Critical Coordination of Unmanned Aerial Vehicles under Velocity Constraints

4.1 Introduction

4.2 Problem Statement

4.2.1 Notations

4.2.2 Problem Formulation

4.3 Projection-Based Consensus Algorithm

4.4 Convergence Analysis

4.5 Convergence Time

4.6 Feasibility

4.7 Simulation

4.8 Summary

Chapter 5 Greedy Maximization for Asset-Based Weapon-Target Assignment with Time-Dependent Rewards

5.1 Introduction

5.2 Problem Formulation

5.2.1 Problem Variables

5.2.2 Constraints

5.2.3 Objective Function

5.3 Properties of the Objective Function

5.3.1 Preliminary-Greedy Algorithm

5.3.2 Preliminary-Maximization of Set Function

5.3.3 Weapon Target Assignment-Lower Bound with Greedy Algorithm

5.4 Algorithmic Details.

5.4.1 Time Slot Generation

5.4.2 Greedy Maximization

5.5 Numerical Case Studies

5.5.1 Simple TSWTA Example

5.5.2 Realistic Interceptor-Ballistic Target Assignment

5.6 Conclusion

Chapter 6 Coordinated Threat Assignments and Mission Management of Unmanned Aerial Vehicles

6.1 Introduction

6.2 Problem Statement

6.2.1 Preliminaries

6.2.2 Mission Description

6.3 Decentralized Assignment of Threats

6.3.1 Optimal Individual Paths and Selections

6.3.2 Decentralized Assignment Algorithm

6.4 Assignment Constraints

6.4.1 Timing Constraints

6.4.2 Coupled Decision Making

6.5 Multiple Main Targets

6.6 Conclusions

Chapter 7 Event-Triggered Communication and Control for Multi-Agent Average Consensus

7.1 Introduction

7.1.1 Organization

7.2 Preliminaries

7.2.1 Event-Triggered Control of Linear Systems

7.3 Problem Statement

7.4 Centralized Event-Triggered Control

7.5 Decentralized Event-Triggered Control

7.6 Decentralized Event-Triggered Communication and Control

7.6.1 Directed Graphs

7.7 Periodic Event-Triggered Coordination

7.8 Conclusions and Future Outlook

Appendix

Chapter 8 Topology Design and Identification for Dynamic Networks

8.1 Introduction

8.2 Network Topology Design Problems

8.2.1 Network Design for Fast Convergence of Consensus Protocol

8.2.2 Network Design for Minimum Total Effective Resistance

8.2.3 Equivalent Conversion from Cardinality-Constrained Optimization Problems to RCOPs

8.3 Network Topology Identification Problems

8.3.1 LTI System Identification

8.3.2 Formulation of NTIs as QCQPs

8.3.3 Equivalent Conversion from QCQPs to RCOPs

8.4 Iterative Rank Minimization Approach

8.5 Simulation Examples

8.5.1 Example for Designing Fast Converging Consensus-based Network.

8.5.2 Example for Designing Minimum Total Effective Resistance Network

8.5.3 Example of NTI with Agent Dynamics Driven by Consensus Protocol

8.6 Conclusions

Chapter 9 Distributed Multi-Agent Coordination with Uncertain Interactions: A Probabilistic Perspective

9.1 Introduction

9.2 Preliminaries

9.2.1 Graph Theory Notions

9.2.2 Problem Statement

9.3 Fixed Interaction Graph

9.3.1 Equal Possibility

9.3.2 Unequal Possibility

9.4 Switching Interaction Graph

9.5 Conclusion

Chapter 10 Awareness Coverage Control in Unknown Environments Using Heterogeneous Multi-Robot Systems

10.1 Introduction

10.2 Problem Formulation

10.2.1 Robot Models

10.2.2 Sensor Models

10.2.3 Communication Strategies

10.2.4 State of Awareness Dynamics

10.3 Cooperative Control of Heterogeneous Multi-Robot Systems

10.3.1 Motion Control for Boundary-Tracking UAVs

10.3.2 Awareness Coverage Control for Coverage Robots

10.3.2.1 Awareness Metric

10.3.2.2 Domain Coverage Algorithm

10.4 Simulation Results

10.5 Conclusion

Index

EULA.

Notes:

Includes bibliographical references at the end of each chapters and index.

Description based on online resource; title from PDF title page (ebrary, viewed April 10, 2017).

ISBN:

9781119266211

1119266211

9781119266235

1119266238

OCLC:

978350969