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Coordination of mul...
Coordination of multi-agent systems with intermittent access to a cloud repository
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- Adaldo, Antonio (författare)
- KTH,Reglerteknik,ACCESS Linnaeus Centre
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Liuzza, D. (författare)
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- Dimarogonas, Dimos V. (författare)
- KTH,Reglerteknik,ACCESS Linnaeus Centre
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- Johansson, Karl Henrik (författare)
- KTH,Reglerteknik,ACCESS Linnaeus Centre
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(creator_code:org_t)
- 2017-05-28
- 2017
- Engelska.
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Ingår i: Workshop on Sensing and Control for Autonomous Vehicles. - Cham : Springer. - 9783319553719 ; , s. 453-471
- Relaterad länk:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- A cloud-supported multi-agent system is composed of autonomous agents required to achieve a common coordination objective by exchanging data over a shared cloud repository. The repository is accessed asychronously by different agents, and direct inter-agent commuication is not possible. This model is motivated by the problem of coordinating a fleet of autonomous underwater vehicles, with the aim to avoid the use of expensive and power-hungry modems for underwater communication. For the case of agents with integrator dynamics, a control law and a rule for scheduling the cloud access are formally defined and proven to achieve the desired coordination. A numerical simulation corroborate the theoretical results.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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