Automatic Synthesis of Control for Multi-Agent Systems with Dynamic Constraints. Issue 11 (2015)

• Record Type: Journal Article
• Authors: Diveev, Askhat I.; Shmalko, Elizaveta Yu.
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 11(2015)
• Page Start: 384
• Page End: 389
• Publication Date: 2015
• Subjects: control synthesis -- multi object control -- dynamic constraints -- symbolic regression; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.09.216
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: The paper solves the problem of automatic synthesis of a control system. The result of the control synthesis is a synthesizing control function that depends on the current state of the object and provides the optimal control with the best functional value from any initial point of some initial domain. A network operator method is used to solve the problem. We apply the proposed approach for control synthesis of a robotic team. The main challenge with such multi-agent mobile systems is to provide control meeting inter agent dynamic constraints. The method's performance is demonstrated through simulations on a team of two mobile robots performing a parking task.