loading
Documents

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Heath LeBlanc ; Emeka Eyisi ; Nicholas Kottenstette ; Xenofon Koutsoukos and Janos Sztipanovits

Affiliation: Vanderbilt University, United States

ISBN: 978-989-8425-00-3

Keyword(s): Passivity, Compositionality, Deployment, Overlay network, Input-output stability, Distributed protocol.

Related Ontology Subjects/Areas/Topics: Distributed Control Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Robotics and Automation ; Vehicle Control Applications

Abstract: Surveillance and convoy tracking applications often require groups of networked agents for redundancy and better coverage. An important goal upon deployment is to establish a formation around a target. Although there exist distributed algorithms using only local communication that achieve this goal, they typically ignore destabilizing effects resulting from implementation uncertainties, such as network delays and data loss. This paper resolves these issues by introducing a discrete-time distributed design framework that uses a compositional, passivity-based approach to ensure lm_2 - stability regardless of overlay network topology, in the presence of network delays and data loss. For the restricted case of a uniform node degree in the overlay network topology, the paper shows that asymptotic formation establishment is achieved. Finally, simulations of velocity-limited unmanned air vehicles (UAVs) are presented that demonstrate the robustness of the network architecture to network del ays and data loss. (More)

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 54.167.243.214

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
LeBlanc H., Eyisi E., Kottenstette N., Koutsoukos X. and Sztipanovits J. (2010). A PASSIVITY-BASED APPROACH TO DEPLOYMENT IN MULTI-AGENT NETWORKS.In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8425-00-3, pages 53-62. DOI: 10.5220/0002951500530062

@conference{icinco10,
author={Heath LeBlanc and Emeka Eyisi and Nicholas Kottenstette and Xenofon Koutsoukos and Janos Sztipanovits},
title={A PASSIVITY-BASED APPROACH TO DEPLOYMENT IN MULTI-AGENT NETWORKS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2010},
pages={53-62},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002951500530062},
isbn={978-989-8425-00-3},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A PASSIVITY-BASED APPROACH TO DEPLOYMENT IN MULTI-AGENT NETWORKS
SN - 978-989-8425-00-3
AU - LeBlanc H.
AU - Eyisi E.
AU - Kottenstette N.
AU - Koutsoukos X.
AU - Sztipanovits J.
PY - 2010
SP - 53
EP - 62
DO - 10.5220/0002951500530062

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.