Optimal Decentralization of Multi-Agent Motions
Author(s)
Twu, Philip Y.
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Abstract
This paper addresses how to optimally decentralize
the execution of a multi-agent mission defined at the
trajectory-level, where the information flow among agents in
the system are limited by a predefined network topology.
Each agent's decentralized controllers are constrained to be
parameterized functions of the relative distances and angles
between itself and its neighbors. Starting with a discussion on
what it means for a controller to be considered decentralized,
the problem is posed as an optimal control problem for
switched autonomous systems. We derive optimality conditions
for the parameters defining each mode for each agent, which is
combined with optimality conditions for when to switch between
consecutive modes. Simulations are used to showcase the
operation of the proposed optimal decentralization algorithm
on a complex example.
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Date
2010-07
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