Predictive Triggering for Distributed Control of Resource Constrained Multi-agent Systems
Systems and Control
2019-07-30 v1 Systems and Control
Abstract
A predictive triggering (PT) framework for the distributed control of resource constrained multi-agent systems is proposed. By predicting future communication demands and deriving a probabilistic priority measure, the PT framework is able to allocate limited communication resources in advance. The framework is evaluated through simulations of a cooperative adaptive cruise control system and experiments on multi-agent cart-pole systems. The results of these studies show its effectiveness over other event-triggered designs at reducing network utilization, while also improving the control error of the system.
Cite
@article{arxiv.1907.12300,
title = {Predictive Triggering for Distributed Control of Resource Constrained Multi-agent Systems},
author = {José Mario Mastrangelo and Dominik Baumann and Sebastian Trimpe},
journal= {arXiv preprint arXiv:1907.12300},
year = {2019}
}
Comments
6 pages, 3 figures, to appear in Proc. of the 8th IFAC Workshop on Distributed Estimation and Control in Networked Systems, 2019