30,950 research outputs found
COORDINATION OF LEADER-FOLLOWER MULTI-AGENT SYSTEM WITH TIME-VARYING OBJECTIVE FUNCTION
This thesis aims to introduce a new framework for the distributed control of multi-agent systems with adjustable swarm control objectives. Our goal is twofold: 1) to provide an overview to how time-varying objectives in the control of autonomous systems may be applied to the distributed control of multi-agent systems with variable autonomy level, and 2) to introduce a framework to incorporate the proposed concept to fundamental swarm behaviors such as aggregation and leader tracking. Leader-follower multi-agent systems are considered in this study, and a general form of time-dependent artificial potential function is proposed to describe the varying objectives of the system in the case of complete information exchange. Using Lyapunov methods, the stability and boundedness of the agents\u27 trajectories under single order and higher order dynamics are analyzed. Illustrative numerical simulations are presented to demonstrate the validity of our results. Then, we extend these results for multi-agent systems with limited information exchange and switching communication topology. The first steps of the realization of an experimental framework have been made with the ultimate goal of verifying the simulation results in practice
Coordination of passive systems under quantized measurements
In this paper we investigate a passivity approach to collective coordination
and synchronization problems in the presence of quantized measurements and show
that coordination tasks can be achieved in a practical sense for a large class
of passive systems.Comment: 40 pages, 1 figure, submitted to journal, second round of revie
Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks
This paper considers the distributed sampled-data control problem of a group
of mobile robots connected via distance-induced proximity networks. A dwell
time is assumed in order to avoid chattering in the neighbor relations that may
be caused by abrupt changes of positions when updating information from
neighbors. Distributed sampled-data control laws are designed based on nearest
neighbour rules, which in conjunction with continuous-time dynamics results in
hybrid closed-loop systems. For uniformly and independently initial states, a
sufficient condition is provided to guarantee synchronization for the system
without leaders. In order to steer all robots to move with the desired
orientation and speed, we then introduce a number of leaders into the system,
and quantitatively establish the proportion of leaders needed to track either
constant or time-varying signals. All these conditions depend only on the
neighborhood radius, the maximum initial moving speed and the dwell time,
without assuming a prior properties of the neighbor graphs as are used in most
of the existing literature.Comment: 15 pages, 3 figure
AirSync: Enabling Distributed Multiuser MIMO with Full Spatial Multiplexing
The enormous success of advanced wireless devices is pushing the demand for
higher wireless data rates. Denser spectrum reuse through the deployment of
more access points per square mile has the potential to successfully meet the
increasing demand for more bandwidth. In theory, the best approach to density
increase is via distributed multiuser MIMO, where several access points are
connected to a central server and operate as a large distributed multi-antenna
access point, ensuring that all transmitted signal power serves the purpose of
data transmission, rather than creating "interference." In practice, while
enterprise networks offer a natural setup in which distributed MIMO might be
possible, there are serious implementation difficulties, the primary one being
the need to eliminate phase and timing offsets between the jointly coordinated
access points.
In this paper we propose AirSync, a novel scheme which provides not only time
but also phase synchronization, thus enabling distributed MIMO with full
spatial multiplexing gains. AirSync locks the phase of all access points using
a common reference broadcasted over the air in conjunction with a Kalman filter
which closely tracks the phase drift. We have implemented AirSync as a digital
circuit in the FPGA of the WARP radio platform. Our experimental testbed,
comprised of two access points and two clients, shows that AirSync is able to
achieve phase synchronization within a few degrees, and allows the system to
nearly achieve the theoretical optimal multiplexing gain. We also discuss MAC
and higher layer aspects of a practical deployment. To the best of our
knowledge, AirSync offers the first ever realization of the full multiuser MIMO
gain, namely the ability to increase the number of wireless clients linearly
with the number of jointly coordinated access points, without reducing the per
client rate.Comment: Submitted to Transactions on Networkin
A Tutorial on Clique Problems in Communications and Signal Processing
Since its first use by Euler on the problem of the seven bridges of
K\"onigsberg, graph theory has shown excellent abilities in solving and
unveiling the properties of multiple discrete optimization problems. The study
of the structure of some integer programs reveals equivalence with graph theory
problems making a large body of the literature readily available for solving
and characterizing the complexity of these problems. This tutorial presents a
framework for utilizing a particular graph theory problem, known as the clique
problem, for solving communications and signal processing problems. In
particular, the paper aims to illustrate the structural properties of integer
programs that can be formulated as clique problems through multiple examples in
communications and signal processing. To that end, the first part of the
tutorial provides various optimal and heuristic solutions for the maximum
clique, maximum weight clique, and -clique problems. The tutorial, further,
illustrates the use of the clique formulation through numerous contemporary
examples in communications and signal processing, mainly in maximum access for
non-orthogonal multiple access networks, throughput maximization using index
and instantly decodable network coding, collision-free radio frequency
identification networks, and resource allocation in cloud-radio access
networks. Finally, the tutorial sheds light on the recent advances of such
applications, and provides technical insights on ways of dealing with mixed
discrete-continuous optimization problems
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