Title:
Graph Process Specifications for Hybrid Networked Systems
Graph Process Specifications for Hybrid Networked Systems
Author(s)
Martin, Patrick
Egerstedt, Magnus B.
Twu, Philip Y.
Egerstedt, Magnus B.
Twu, Philip Y.
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Abstract
Research in multi-agent systems has supplied a diverse collection of decentralized
controllers to accomplish specific tasks. When agents execute a sequence of these controllers,
the network behaves as a hybrid system, where the dynamics in each mode evolve according to a
single controller in the sequence. This paper presents a formal specification for such a system that
describes the underlying graph process associated with the information flow amongst agents in
each mode. Since many decentralized controllers require specific information graph topologies in
order to function properly, a problem that arises is that the information graph at the termination
of one mode may not be sufficient to initiate the next mode in the sequence.We propose a Graph
Process Specification (GPS) framework that describes the graph process. Furthermore, if two
modes cannot be executed consecutively, a GPS provides a way to determine which modes can
be inserted in between them to make the resulting sequence executable. We formally define a
GPS, describe its execution, and provide examples that showcase its usage in composing together
multiple decentralized controllers within a multi-agent system.
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Date Issued
2010-08
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Text
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Proceedings