91,999 research outputs found
An event-driven approach to control and optimization of multi-agent systems
This dissertation studies the application of several event-driven control schemes in multi-agent systems. First, a new cooperative receding horizon (CRH) controller is designed and applied to a class of maximum reward collection problems. Target rewards are time-variant with finite deadlines and the environment contains uncertainties. The new methodology adapts an event-driven approach by optimizing the control for a planning horizon and updating it for a shorter action horizon. The proposed CRH controller addresses several issues including potential instabilities and oscillations. It also improves the estimated reward-to-go which enhances the overall performance of the controller. The other major contribution is that the originally infinite-dimensional feasible control set is reduced to a finite set at each time step which improves the computational cost of the controller.
Second, a new event-driven methodology is studied for trajectory planning in multi-agent systems. A rigorous optimal control solution is employed using numerical solutions which turn out to be computationally infeasible in real time applications. The problem is then parameterized using several families of parametric trajectories. The solution to the parametric optimization relies on an unbiased estimate of the objective function's gradient obtained by the "Infinitesimal Perturbation Analysis" method. The premise of event-driven methods is that the events involved are observable so as to "excite" the underlying event-driven controller. However, it is not always obvious that these events actually take place under every feasible control in which case the controller may be useless. This issue of event excitation, which arises specially in multi-agent systems with a finite number of targets, is studied and addressed by introducing a novel performance measure which generates a potential field over the mission space. The effect of the new performance metric is demonstrated through simulation and analytical results
An event-driven approach to control and optimization of multi-agent systems
This dissertation studies the application of several event-driven control schemes in multi-agent systems. First, a new cooperative receding horizon (CRH) controller is designed and applied to a class of maximum reward collection problems. Target rewards are time-variant with finite deadlines and the environment contains uncertainties. The new methodology adapts an event-driven approach by optimizing the control for a planning horizon and updating it for a shorter action horizon. The proposed CRH controller addresses several issues including potential instabilities and oscillations. It also improves the estimated reward-to-go which enhances the overall performance of the controller. The other major contribution is that the originally infinite-dimensional feasible control set is reduced to a finite set at each time step which improves the computational cost of the controller.
Second, a new event-driven methodology is studied for trajectory planning in multi-agent systems. A rigorous optimal control solution is employed using numerical solutions which turn out to be computationally infeasible in real time applications. The problem is then parameterized using several families of parametric trajectories. The solution to the parametric optimization relies on an unbiased estimate of the objective function's gradient obtained by the "Infinitesimal Perturbation Analysis" method. The premise of event-driven methods is that the events involved are observable so as to "excite" the underlying event-driven controller. However, it is not always obvious that these events actually take place under every feasible control in which case the controller may be useless. This issue of event excitation, which arises specially in multi-agent systems with a finite number of targets, is studied and addressed by introducing a novel performance measure which generates a potential field over the mission space. The effect of the new performance metric is demonstrated through simulation and analytical results
Event-triggered Consensus Control of Heterogeneous Multi-agent Systems: Model- and Data-based Analysis
This article deals with model- and data-based consensus control of
heterogenous leader-following multi-agent systems (MASs) under an
event-triggering transmission scheme. A dynamic periodic transmission protocol
is developed to significantly alleviate the transmission frequency and
computational burden, where the followers can interact locally with each other
approaching the dynamics of the leader. Capitalizing on a discrete-time
looped-functional, a model-based consensus condition for the closed-loop MASs
is derived in form of linear matrix inequalities (LMIs), as well as a design
method for obtaining the distributed controllers and event-triggering
parameters. Upon collecting noise-corrupted state-input measurements during
open-loop operation, a data-driven leader-following MAS representation is
presented, and employed to solve the data-driven consensus control problem
without requiring any knowledge of the agents' models. This result is then
extended to the case of guaranteeing an performance. A
simulation example is finally given to corroborate the efficacy of the proposed
distributed event-triggering scheme in cutting off data transmissions and the
data-driven design method.Comment: 13 pages, 6 figures. This draft was firstly submitted to IEEE Open
Journal of Control Systems on April 30, 2022, but rejected on June 19, 2022.
Later, on July 23, 2022, this paper was submitted to the journal SCIENCE
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D4.2 Intelligent D-Band wireless systems and networks initial designs
This deliverable gives the results of the ARIADNE project's Task 4.2: Machine Learning based network intelligence. It presents the work conducted on various aspects of network management to deliver system level, qualitative solutions that leverage diverse machine learning techniques. The different chapters present system level, simulation and algorithmic models based on multi-agent reinforcement learning, deep reinforcement learning, learning automata for complex event forecasting, system level model for proactive handovers and resource allocation, model-driven deep learning-based channel estimation and feedbacks as well as strategies for deployment of machine learning based solutions. In short, the D4.2 provides results on promising AI and ML based methods along with their limitations and potentials that have been investigated in the ARIADNE project
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