Coordinated Fault-Tolerant Control of Autonomous Agents: Geometry and Communications Architecture

Abel, R.O.; Dasgupta, Soura; Kuhl, Jon G.

doi:10.3182/20050703-6-cz-1902.02082

Cited by 12 publications

(38 citation statements)

References 6 publications

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“…On the other hand, [2] reverses the question and asks: given a desired formation specified by relative positions rather than interagent distances, what state exchange architecture suffices to achieve ? It also focuses on control laws that incorporate redundancies that permit the formation to survive the loss of agents and/or communication links.…”

Section: Introductionmentioning

confidence: 95%

“…In this paper, we revisit the work of [2] involving agents modeled as double integrators in each cartesian dimension. The goal in [2] is to induce the agents to organize themselves into formations prescribed by the relative positions between them.…”

Section: Introductionmentioning

confidence: 99%

“…The law itself is fault tolerant and scalable, being easily reconfigurable in the face of the loss or arrival of an agent, and the loss of a communication link. A key contribution of [2] is to provide a framework to incorporate redundancy that allows a network to survive faults caused by the loss of agents and communications links. In this paper we consider a different aspect of redundancy: Specifically the impact it has on control performance of the law in [2] as quantified by the speed with which a desired formation is achieved.…”

Section: Introductionmentioning

confidence: 99%

“…The goal in [2] is to induce the agents to organize themselves into formations prescribed by the relative positions between them. To this end, [2] devises a control law that requires minimal information exchange between the agents and minimal knowledge on the part of each agent of the overall formation objective. The law itself is fault tolerant and scalable, being easily reconfigurable in the face of the loss or arrival of an agent, and the loss of a communication link.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

The relation between redundancy and convergence rate in distributed multi-agent formation control

Abel

Dasgupta

Kuhl

2008

2008 47th IEEE Conference on Decision and Control

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In an earlier paper we had proposed a one step ahead optimization based distributed control law for autonomous agents, modeled as double integrators, that achieves a formation specified by relative position between agents. The law requires minimal information exchange between the agents and minimal knowledge on the part of each agent of the overall formation objective, and is fault tolerant and scalable, being easily reconfigurable in the face of the loss or arrival of an agent, and the loss of a communication link. In this earlier paper we had provided a framework to incorporate redundancy that allows a network to survive faults caused by the loss of agents and communications links. In this paper we consider a different aspect of redundancy: Specifically the impact it has on control performance of the law as quantified by the speed with which a desired formation is achieved.

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Section: Introductionmentioning

confidence: 95%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

The relation between redundancy and convergence rate in distributed multi-agent formation control

Abel

Dasgupta

Kuhl

2008

2008 47th IEEE Conference on Decision and Control

Self Cite

View full text Add to dashboard Cite

show abstract

“…To guarantee close formations, it may not be necessary to monitor the links between each pair of vehicles. According T to the chosen formation topology, it may be enough to control the distance and adjustment between single pairs of vehicles, like it was suggested in [3]. In the presented scenario, even those simplifications may not be enough to establish a standard controller with sampling times of roughly one second.…”

Section: Introductionmentioning

confidence: 99%

Kalman filter based team navigation for Multiple Unmanned Marine Vehicles

Schneider

Glotzbach

Jacobi

et al. 2008

2008 IEEE International Conference on Control Applications

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Abstract-In applications employing Multiple UnmannedMarine Vehicles (MUMVs), the navigation has a very great importance to guarantee formation preservation and collision avoidance. While single vehicles usually base their navigation on absolute measurements (GPS, inertial navigation) to determine their position relative to the world, it may be reasonable to perform a relative navigation within vehicle teams. In this paper, we propose relative team navigation based on Kalman Filters to enable a velocity controller to establish a close formation under the typical marine constraints (narrow band width communication with low reliability). We will simulate a team of three marine vehicles and compare the results of different strategies for team navigation.

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Decentralized minimal‐time planar formation control of multi‐agent system

Liu

Zou

2017

Intl J Robust & Nonlinear

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In this paper, the problems of decentralized minimal-time planar formation control are investigated for both static and dynamic cases. For the static one, the discrete-time dynamics of multi-agent system in which each agent exchanges information according to a complex weighted network is studied. On the basis of a minimal polynomial, a decentralized minimal-time static formation method is proposed to compute the final formation positions of the agents in the minimal number of steps without global coordinates. The proposed method allows an arbitrarily chosen agent in the network to compute its final formation position. For the dynamic one in a leader-follower framework, the path information of the agents satisfies linear regression equations that are determined by interaction topology and input signals. In order to obtain the coefficients of such linear regression equations, a Kronecker-theorem-based algorithm is presented. Similar to the results for the static case, any agent is allowed to use the minimum number of successive history state values to compute the future dynamic formation track. The minimal number of steps can be computed by checking the rank condition of the Hankel matrix constructed in terms of the path information. Meanwhile, the simulation examples are given to demonstrate the validity of the proposed minimal-time planar formation control methods. The results in the paper combine the matrix polynomial analysis into the framework of formation control design and show how to predict the motion of the agents in a decentralized manner. and rotations [7][8][9]. Distance-based approach was studied on the basis of graph rigidity, in which inter-agent distances were measured and controlled to achieve the desired formation [10][11][12][13][14]. Although the distance-based approach does not require the agents to share any global information of orientation, it is challenging to synthesize the control law for a group of agents. Therefore, a large number of literatures focused on the formation stability [15][16][17][18][19][20][21][22]. In accordance with the potential function between each pair of connected agents, negative gradient control law was proposed to guarantee the global convergence [21]. The objective of [23,24] was to define a control law that is associated with the geometric topology. By correctly choosing the cost function and providing some redundancy in the formation topology, an optimization-based control that allows the system to avoid the loss of an agent was proposed.The control of moving formation shape was studied in [25][26][27]. The formation shape control and flocking behavior were combined when one changes from an agent with single integration to one with double integration [25]. On the basis of the backstepping technique, a nonlinear control law was given to solve the moving formation control problem of three agents in the plane [26]. Furthermore, the backstepping technique was used to synchronize the attitude of groups of ships [27]. For three-dimensional formation control, a meth...

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Coordinated Fault-Tolerant Control of Autonomous Agents: Geometry and Communications Architecture

Cited by 12 publications

References 6 publications

The relation between redundancy and convergence rate in distributed multi-agent formation control

The relation between redundancy and convergence rate in distributed multi-agent formation control

Kalman filter based team navigation for Multiple Unmanned Marine Vehicles

Decentralized minimal‐time planar formation control of multi‐agent system

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