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A decentralized eve...
A decentralized event-based predictive navigation scheme for Air-Traffic Control
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Maniatopoulos, S. (author)
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- Dimarogonas, Dimos V. (author)
- KTH,Reglerteknik,ACCESS Linnaeus Centre
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Kyriakopoulos, K. J. (author)
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(creator_code:org_t)
- IEEE Computer Society, 2012
- 2012
- English.
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In: 2012 American Control Conference (ACC). - : IEEE Computer Society. - 9781457710957 ; , s. 2503-2508
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Abstract
Subject headings
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- This paper presents an approach for the multiagent navigation and conflict resolution problem, that considers the issue of performance. We present a decentralized predictive navigation scheme that combines the Decentralized Navigation Functions methodology with the Model Predictive Control (MPC) framework while preserving the former's collision avoidance and convergence guarantees. Aircrafts, flying at constant altitude, are modeled as unicycles. Performance criteria are encoded in a cost functional. Due to decentralization, each agent does not take into account the decisions of others in the control law calculation, resulting in performance discrepancies. Therefore, we employ event-triggered executions in our scheme. The improved performance is demonstrated through simulations.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- Conflict Resolution
- Constant altitude
- Control laws
- Cost functionals
- Decentralized navigation
- Event-based
- Event-triggered
- Performance criterion
- Air traffic control
- Model predictive control
- Multi agent systems
- Predictive control systems
- Navigation
Publication and Content Type
- ref (subject category)
- kon (subject category)
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