Title:
Constrained Agreement Protocols for Tree Graph Topologies
Constrained Agreement Protocols for Tree Graph Topologies
dc.contributor.author | Chipalkatty, Rahul | |
dc.contributor.author | Egerstedt, Magnus B. | |
dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
dc.contributor.corporatename | Georgia Institute of Technology. School of Electrical and Computer Engineering | en_US |
dc.date.accessioned | 2012-08-31T19:39:56Z | |
dc.date.available | 2012-08-31T19:39:56Z | |
dc.date.issued | 2011-02 | |
dc.description | This is a preprint of an article submitted for consideration in the International Journal of Control, copyright Taylor & Francis; International Journal of Control is available online at: http://www.informaworld.com/ | en_US |
dc.description | DOI:10.1080/00207179.2012.656288 | en_US |
dc.description.abstract | This paper presents a novel way of manipulating the initial conditions in the consensus equation such that a constrained agreement problem is solved across a distributed network of agents, particularly for a network represented by a tree graph. The presented method is applied to the problem of coordinating multiple pendula attached to mobile bases. The pendula should move in such a way that their motion is synchronized, which calls for a constrained optimal control problem for each pendulum as well as the constrained agreement problem across the network. Simulation results are presented that support the viability of the proposed approach as well as a hardware demonstration. | en_US |
dc.identifier.citation | R. Chipalkatty and M. Egerstedt. Constrained Agreement Protocols for Tree Graph Topologies. International Journal of Control, Vol. 85, No. 5, pp. 457-474, May 2012. | en_US |
dc.identifier.issn | 0020-7179 | |
dc.identifier.uri | http://hdl.handle.net/1853/44590 | |
dc.language.iso | en_US | en_US |
dc.publisher | Georgia Institute of Technology | en_US |
dc.publisher.original | Taylor & Francis | |
dc.subject | Consensus algorithm | en_US |
dc.subject | Optimal control | en_US |
dc.subject | Graph-based multi-agent control | en_US |
dc.subject | Constrained agreement | en_US |
dc.subject | Protocol | en_US |
dc.title | Constrained Agreement Protocols for Tree Graph Topologies | en_US |
dc.type | Text | |
dc.type.genre | Article | |
dc.type.genre | Pre-print | |
dspace.entity.type | Publication | |
local.contributor.author | Egerstedt, Magnus B. | |
local.contributor.corporatename | School of Electrical and Computer Engineering | |
local.contributor.corporatename | College of Engineering | |
relation.isAuthorOfPublication | dd4872d3-2e0d-435d-861d-a61559d2bcb6 | |
relation.isOrgUnitOfPublication | 5b7adef2-447c-4270-b9fc-846bd76f80f2 | |
relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 |
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