Distributed agreement strategies for cooperative control:: Modeling and scalability analysis

被引：0

作者：

Ganapathy, S ^{[1
]}

Passino, KM ^{[1
]}

机构：

[1] Ohio State Univ, Dept Elect Engn, Columbus, OH 43210 USA

来源：

RECENT DEVELOPMENTS IN COOPERATIVE CONTROL AND OPTIMIZATION | 2004年 / 3卷

关键词：

cooperative control; distributed agreement strategies; Pareto optimal;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We introduce a mathematical model for cooperative control problems for multiple uninhabited autonomous vehicles (UAVs). Then, we introduce a computationally tractable "distributed agreement" approach to incorporate real-time decision making into a cooperative control problem. We also identify a type of optimal agreement strategy, discuss its complexity, and compare, via Monte Carlo simulations, its performance to our computationally tractable "heuristic" approach. This shows that our heuristic approach compares favorably with an optimal solution, yet is scalable for more sophisticated cooperative control problems.

引用

页码：145 / 165

页数：21

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