Coordination Planning: Applying Control Synthesis Methods for a Class of Distributed Agents

Seow, Kiam Tian; Pham, Manh Tung; Ma, Chuan; Yokoo, Makoto

doi:10.1109/tcst.2008.924574

Cited by 28 publications

(22 citation statements)

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“…Each of the CM's can also be efficiently implemented in terms of memory requirements as their state size may be greatly reduced, though not necessarily minimized, for each agent model. In comparison with an existing synthesis algorithm [80,82], we explain and demonstrate the design improvement in terms of reduction in inter-agent communication and CM state sizes that the new synthesis algorithm offers.…”

Section: Fundamental Coordination Synthesis (Chapter 3)mentioning

confidence: 99%

“…In recent work, Seow et al [80,82] establish an explicit connection between discrete-event control and multiagent coordination. In essence, the authors differentiate two conceptually different views -the control and the coordination viewpoints -to the same set of interacting DEP's.…”

Section: Supervisory Control Of Discrete-event Systemsmentioning

confidence: 99%

“…From the coordination viewpoint, however, the problem of interest is to synthesize local CM's for every DEP, interpreted as a coordinating agent, through which to specify how the agents should interact and communicate to achieve conformance to the constraint. Interestingly, the authors show that the two conceptually different problems are mathematically equivalent, in that a set of CM's could be computed from a single supervisor and vice versa [82,Theorem 1]. Importantly, this finding provides the research impetus towards developing a coordination theory for a class of agents founded on a discrete-event framework.…”

Section: Supervisory Control Of Discrete-event Systemsmentioning

confidence: 99%

“…Motivated by the mathematical connection between discrete-event coordination and control [80,60,61,82], one of the contributions of this thesis is the adaptation and applica-…”

Section: Supervisory Control Of Discrete-event Systemsmentioning

confidence: 99%

“…Section 2.3 summarizes some fundamental results in supervisory control of DES's. Section 2.4 elaborates on the mathematical connection between discrete-event control and coordi-nation which is first discussed in [80,82], and presents how a discrete-event multiagent coordination problem can be addressed using discrete-event control techniques. Finally, Section 2.5 concludes this chapter.…”

Section: Chapter Overviewmentioning

confidence: 99%

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Discrete-event multiagent coordination : framework and algorithms

Pham¹

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This thesis proposes a formal design framework for three inter-agent coordination problems that have not been addressed in the literature: A fundamental coordination problem, a networked coordination problem and an on-line coordination problem. The problems arise when distributed agents need to interact and communicate among themselves in order to guarantee conformance to some inter-agent constraints that restrict their behaviors. These problems are formulated and addressed for a class of agents in a discrete-event behavioral formalism. The basic solution proposed is to equip agents with some distributed, local cooperation mechanism called coordination modules (CM's), by which they can compute their local coordinating actions in response to each other's information update. The framework developed supports the automated synthesis of CM's for discrete-event agents. The fundamental problem is formulated as synthesizing CM's for multiple agents coordinating to satisfy one pre-specified inter-agent constraint. A fundamental insight unearthed is that discrete-event agent coordination shares the same algorithmic foundation with related problems in the control literature although they are conceptually different domains. This insight leads to the adaptation and extension of related control and observation concepts for the development of a new concept called coordinable language, which is shown to be the necessary and sufficient existence condition of CM's for distributed agents. A new CM synthesis algorithm is developed for the fundamental problem. The networked coordination problem generalizes the fundamental problem to multiple pre-specified inter-agent constraints distributed among agents. In addressing the problem, the originality of our solution approach emanates from two major research ideas. The first is in proposing a new formalism called the Distributed Constraint Specification Network (DCSN) that can comprehensibly describe the networking constraint relationships among the agents, with every constraint and the group of agents that it is relevant for forming a basic subnet. Each basic subnet of a DCSN therefore specifies a fundamental coordination strategies for agents to interact and communicate continually between themselves to conform to a given global predicate specifying an inter-agent constraint. A predicate constraint prescribes a subset of the composite state space that the agents should always remain in during interaction. An on-line coordination strategy enables each agent to compute its local coordinating actions in response to situational changes so as to respect the constraint; and is said to support the on-line, partial synthesis of agent CM's. This on-line coordination problem is shown to be solvable in some autonomy permitted setting for coordinable predicates not less restrictive than a given predicate constraint. The solution basis developed is an optimal policy by which agents can interact and communicate to guarantee that transitions of their composite states always remain confined to the larg...

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Section: Fundamental Coordination Synthesis (Chapter 3)mentioning

confidence: 99%

Section: Supervisory Control Of Discrete-event Systemsmentioning

confidence: 99%

Section: Supervisory Control Of Discrete-event Systemsmentioning

confidence: 99%

“…Motivated by the mathematical connection between discrete-event coordination and control [80,60,61,82], one of the contributions of this thesis is the adaptation and applica-…”

Section: Supervisory Control Of Discrete-event Systemsmentioning

confidence: 99%

Section: Chapter Overviewmentioning

confidence: 99%

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Discrete-event multiagent coordination : framework and algorithms

Pham¹

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Adaptive control and signal processing literature survey (No. 11)

2009

Adaptive Control & Signal

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In order to keep readers up-to-date, the journal will contain a list of recently published journal articles relevant to the fields of adaptive control and signal processing six times a year. This list is compiled from a wide range of journals. Please note that even though the list has been broadly categorized these classifications are by no means strict, and are there to assist the reader. Please also note that inclusion in the list is not an endorsement of a paper's quality. If you have any suggestions or comments, please email Leonardo Giovanini at lgiovanini@fich.unl.edu.ar. ADAPTIVE SYSTEMSBruggeman F, Snoep J, Westerhoff H. Control, responses and modularity of cellular regulatory networks: a control analysis perspective. IET System Biology 2008; 2(6):397-410. Ciliz M. Combined direct and indirect adaptive control for a class of nonlinear systems. IET Control Theory and Applications 2009; 3(1):151-159. Kosmatopoulos E. Adaptive control design based on adaptive optimization principles. IEEE Transactions on Automatic Control 2008; 53(11):2680-2685. Li X-D, Chow T, Ho J, Zhang J. Iterative learning control with initial rectifying action for nonlinear continuous systems. IET Control Theory and Applications 2009; 3(1):49-55. Mirkin B, Gutman P. Adaptive output-feedback tracking: the case of MIMO plants with unknown, time-varying state delay. Systems and Control Letters 2008; 58(1):62-68. Xie X-J, Tian J. Adaptive state-feedback stabilization of high-order stochastic systems with nonlinear parameterization. Automatica 2008; 45(1):126-133. Yaesh I, Shaked U. Stochastic passivity and its application in adaptive control. IEEE Transactions on Automatic Control 2009; 54(1):136-142. Yang C, Ge S, Lee T. Output feedback adaptive control of a class of nonlinear discrete-time systems with unknown control directions. Automatica 2008; 45(1):270-276. Zhao D, Li S, Gao F, Zhu Q. Robust adaptive terminal sliding mode-based synchronised position control for multiple motion axes systems. IET Control Theory and Applications 2009; 3(1): 136-150. Li Z, Tao P, Ge S, Adams M, Wijesoma W. Robust adaptive control of cooperating mobile manipulators with relative motion. IEEE Transactions on Systems, Man and Cybernetics-Part B: Cybernetics 2009; 39(1):103-116. 2. SIGNAL PROCESSING Babacan E, Ozbek L, Efe M. Stability of the extended Kalman filter when the states are constrained. Evaluating the performance of Kalman-filter-based EEG source localization. IEEE Transactions on Biomedical Engineering 2009; 56(1):122-136. Bell B, Burke J, Pillonetto G. An inequality constrained nonlinear Kalman-Bucy smoother by interior point likelihood maximization. Automatica 2008; 45(1):25-33. Calafiore G, Topcu U, El Ghaoui L. Parameter estimation with expected and residual-at-risk criteria. Systems and Control Letters 2008; 58(1):39-46. Chappell M, Groves A, Whitcher B, Woolrich M. Variational bayesian inference for a nonlinear forward model. IEEE Transactions on Signal Processing 2009; 57(1):223-236. Epstein M, Shi L, Tiwari A, Murray R. Probabilistic perf...

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Optimal control applications and methods literature survey (No. 11)

2009

Optim Control Appl Methods

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In order to keep readers up-to-date, the journal will contain a list of recently published journal articles relevant to the fields of optimal control, system optimization and applications six times a year. This list is compiled from a wide range of journals. Please note that even though the list has been broadly categorized these classifications are by no means strict, and are there to assist the reader. Please also note that inclusion in the list is not an endorsement of a paper's quality. If you have any suggestions or comments, please email Leonardo Giovanini at lgiovanini@fich.unl.edu.ar. OPTIMAL CONTROL

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Coordination Planning: Applying Control Synthesis Methods for a Class of Distributed Agents

Cited by 28 publications

References 24 publications

Discrete-event multiagent coordination : framework and algorithms

Discrete-event multiagent coordination : framework and algorithms

Adaptive control and signal processing literature survey (No. 11)

Optimal control applications and methods literature survey (No. 11)

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