Decentralized abstractions for multi-agent systems under coupled constraints

DOI10.1016/J.EJCON.2018.10.002zbMATH Open1405.93012arXiv1506.05297OpenAlexW2963343932MaRDI QIDQ1712902FDOQ1712902

Authors: D. Boskos, Dimos V. Dimarogonas 

Publication date: 24 January 2019

Published in: European Journal of Control (Search for Journal in Brave)

Abstract: The goal of this report is to define abstractions for multi-agent systems with feedback interconnection in their dynamics. In the proposed decentralized framework, we specify a finite or countable transition system for each agent which only takes into account the discrete positions of its neighbors. The dynamics of the considered systems consist of two components. An appropriate feedback law which guarantees that certain system and network requirements are fulfilled and induces coupled constraints, and additional free inputs which we exploit in order to accomplish high level tasks. In this work, we provide sufficient conditions on the space and time discretization for the abstraction of the system's behaviour which ensure that we can extract a well posed and hence meaningful transition system. Furthermore, these conditions include design parameters whose tuning provides the possibility for multiple transitions, and hence, enable the construction of transition systems with motion planning capabilities.

Full work available at URL: https://arxiv.org/abs/1506.05297

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zbMATH Keywords

hybrid systemsmulti-agent systemsabstractions

Mathematics Subject Classification ID

Agent technology and artificial intelligence (68T42) Decentralized systems (93A14) Feedback control (93B52) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30) Discrete event control/observation systems (93C65)

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Cited In (4)

• Title not available (Why is that?)
• Abstractions of varying decentralization degree for reachability of coupled multiagent systems
• Graph process specifications for hybrid networked systems
• Finite horizon discrete models for multi-agent control systems with coupled dynamics

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