7 research outputs found
A Message Passing Strategy for Decentralized Connectivity Maintenance in Agent Removal
In a multi-agent system, agents coordinate to achieve global tasks through
local communications. Coordination usually requires sufficient information
flow, which is usually depicted by the connectivity of the communication
network. In a networked system, removal of some agents may cause a
disconnection. In order to maintain connectivity in agent removal, one can
design a robust network topology that tolerates a finite number of agent
losses, and/or develop a control strategy that recovers connectivity. This
paper proposes a decentralized control scheme based on a sequence of
replacements, each of which occurs between an agent and one of its immediate
neighbors. The replacements always end with an agent, whose relocation does not
cause a disconnection. We show that such an agent can be reached by a local
rule utilizing only some local information available in agents' immediate
neighborhoods. As such, the proposed message passing strategy guarantees the
connectivity maintenance in arbitrary agent removal. Furthermore, we
significantly improve the optimality of the proposed scheme by incorporating
-criticality (i.e. the criticality of an agent in its
-neighborhood).Comment: 9 pages, 9 figure
A Distributed and Privacy-Aware Speed Advisory System for Optimising Conventional and Electric Vehicles Networks
One of the key ideas to make Intelligent Transportation Systems (ITS) work
effectively is to deploy advanced communication and cooperative control
technologies among the vehicles and road infrastructures. In this spirit, we
propose a consensus-based distributed speed advisory system that optimally
determines a recommended common speed for a given area in order that the group
emissions, or group battery consumptions, are minimised. Our algorithms achieve
this in a privacy-aware manner; namely, individual vehicles do not reveal
in-vehicle information to other vehicles or to infrastructure. A mobility
simulator is used to illustrate the efficacy of the algorithm, and
hardware-in-the-loop tests involving a real vehicle are given to illustrate
user acceptability and ease of the deployment.Comment: This is a journal paper based on the conference paper "Highway speed
limits, optimised consensus, and intelligent speed advisory systems"
presented at the 3rd International Conference on Connected Vehicles and Expo
(ICCVE 2014) in November 2014. This is the revised version of the paper
recently submitted to the IEEE Transactions on Intelligent Transportation
Systems for publicatio
A Result On Implicit Consensus with Application to Emissions Control
This paper is concerned with a class of decentralised
control problems that arise in contemporary applications
where agents cooperate to control and regulate a global
quantity, are limited in the manner in which they communicate
with each other, and are required to reach consensus on some
implicit variable (for instance, CO2 emissions). An algorithm
is presented for achieving this goal. A simplified application of
the algorithm to emissions control for a fleet of Plug-in Hybrid
Electric Vehicles (PHEVs) is given
A Framework for Decentralised Feedback Connectivity Control with Application to Sensor Networks
In this paper we propose a decentralised algorithm for connectivity maintenance in a distributed sensor network. Our algorithm uses the dynamics of a consensus algorithm to estimate the connectivity of a network topology in a decentralised manner. These estimates are then used to inform a decentralised control algorithm that regulates the network connectivity to some desired level. Under certain realistic assumptions we show the closed loop dynamics can be described as a consensus algorithm with an input, and eventually reduces to a scalar system. Bounds are given to ensure the stability of the algorithm and examples are given to illustrate the efficacy of the proposed algorithm