Cooperative Control of Multi-Agent Systems

Yue Wang, PhD is the Warren H. Owen – Duke Energy Assistant Professor of Engineering in the Department of Mechanical Engineering, Clemson University, USA. Her research interests include cooperative control and decision-making for multi-agent systems and human-robot interaction.Eloy Garcia is a scientist with InfoSciTex Corp and the Control Science Center of Excellence, USAF Research Laboratory, USA.David Casbeer is a research engineer with the Aerospace Systems Directorate, USAF Research Laboratory, USA.Fumin Zhang, PhD is Associate Professor at the School of Electrical and Computer Engineering, Georgia Institute of Technology, USA.

• List of Contributors xiii Preface xvii Acknowledgment xix 1 Introduction 1 Yue Wang, Eloy Garcia, David Casbeer and Fumin Zhang 1.1 Introduction 1 1.2 Chapter Summary and Contributions 11 References 17 2 Sensor Placement Algorithms for a Path Covering Problem 31 Sivakumar Rathinam and Rajnikant Sharma 2.1 Problem Statement 34 2.2 Algorithm Approx 1 35 2.2.1 Algorithm for Targets That Lie Within a Strip 36 2.2.2 Algorithm for a General Set of Points 37 2.2.3 Proof of the Approximation Ratio 38 2.3 Algorithm Approx 2 42 2.4 Numerical Results 46 2.5 Conclusions 48 References 48 3 Robust Coordination of Small UAVs for Vision-Based Target Tracking Using Output-Feedback MPC with MHE 51 Steven A. P. Quintero, David A. Copp, and João P.  Hespanha 3.1 Vision-Based Target Tracking 53 3.2 Problem Formulation 58 3.2.1 UAV Dynamics 58 3.2.2 Target Dynamics and Overall State Space 61 3.2.3 Measurement Error Models 62 3.3 Robust Output-Feedback MPC/MHE 64 3.4 Simulation Results 67 3.4.1 Constant-Velocity Target 70 3.4.2 Evasive Target 73 3.4.3 Experimental Target Log 76 3.5 Conclusion and Future Work 79 References 80 4 Projection-Based Consensus for Time-Critical Coordination of Unmanned Aerial Vehicles under Velocity Constraints 85 Xiaofeng Wang, Eloy Garcia, Zheqing Zhou, Derek KingstonandDavid Casbeer 4.1 Introduction 85 4.2 Problem Statement 87 4.2.1 Notations 87 4.2.2 Problem Formulation 88 4.3 Projection-Based Consensus Algorithm 89 4.4 Convergence Analysis 91 4.5 Convergence Time 96 4.6 Feasibility 101 4.7 Simulation 104 4.8 Summary 110 References 111 5 Greedy Maximization for Asset-Based Weapon–Target Assignment with Time-Dependent Rewards 115 Doo-Hyun Cho and Han-Lim Choi 5.1 Introduction 115 5.2 Problem Formulation 117 5.2.1 Problem Variables 119 5.2.2 Constraints 119 5.2.3 Objective Function 120 5.3 Properties of the Objective Function 120 5.3.1 Preliminary—Greedy Algorithm 121 5.3.2 Preliminary—Maximization of Set Function 121 5.3.3 Weapon Target Assignment—Lower Bound with Greedy Algorithm 122 5.4 Algorithmic Details 126 5.4.1 Time Slot Generation 126 5.4.2 Greedy Maximization 127 5.5 Numerical Case Studies 128 5.5.1 Simple TSWTA Example 128 5.5.2 Realistic Interceptor-Ballistic Target Assignment 134 5.6 Conclusion 136 Acknowledgment 136 References 137 6 Coordinated Threat Assignments and Mission Management of Unmanned Aerial Vehicles 141 Eloy Garcia and David Casbeer 6.1 Introduction 141 6.2 Problem Statement 144 6.2.1 Preliminaries 144 6.2.2 Mission Description 144 6.3 Decentralized Assignment of Threats 148 6.3.1 Optimal Individual Paths and Selections 148 6.3.2 Decentralized Assignment Algorithm 150 6.4 Assignment Constraints 153 6.4.1 Timing Constraints 154 6.4.2 Coupled Decision Making 158 6.5 Multiple Main Targets 163 6.6 Conclusions 172 References 172 7 Event-Triggered Communication and Control for Multi-Agent Average Consensus 177 Cameron Nowzari, Jorge Cortes and George J. Pappas 7.1 Introduction 177 7.1.1 Organization 178 7.2 Preliminaries 181 7.2.1 Event-Triggered Control of Linear Systems 182 7.3 Problem Statement 185 7.4 Centralized Event-Triggered Control 186 7.5 Decentralized Event-Triggered Control 188 7.6 Decentralized Event-Triggered Communication and Control 192 7.6.1 Directed Graphs 196 7.7 Periodic Event-Triggered Coordination 199 7.8 Conclusions and Future Outlook 201 References 202 Appendix 205 8 Topology Design and Identification for Dynamic Networks 209 Chuangchuang Sun and Ran Dai 8.1 Introduction 209 8.2 Network Topology Design Problems 212 8.2.1 Network Design for Fast Convergence of Consensus Protocol 213 8.2.2 Network Design for Minimum Total Effective Resistance 215 8.2.3 Equivalent Conversion from Cardinality-Constrained Optimization Problems to RCOPs 216 8.3 Network Topology Identification Problems 216 8.3.1 LTI System Identification 216 8.3.2 Formulation of NTIs as QCQPs 219 8.3.3 Equivalent Conversion from QCQPs to RCOPs 220 8.4 Iterative Rank Minimization Approach 221 8.5 Simulation Examples 224 8.5.1 Example for Designing Fast Converging Consensus-based Network 225 8.5.2 Example for Designing Minimum Total Effective Resistance Network 226 8.5.3 Example of NTI with Agent Dynamics Driven by Consensus Protocol 227 8.6 Conclusions 231 References 232 9 Distributed Multi-Agent Coordination with Uncertain Interactions: A Probabilistic Perspective 237 Yongcan Cao, David Casbeer, Eloy Garcia and Corey Schumacher 9.1 Introduction 237 9.2 Preliminaries 239 9.2.1 Graph Theory Notions 239 9.2.2 Problem Statement 240 9.3 Fixed Interaction Graph 241 9.3.1 Equal Possibility 242 9.3.2 Unequal Possibility 249 9.4 Switching Interaction Graph 253 9.5 Conclusion 262 References 262 10 Awareness Coverage Control in Unknown Environments Using Heterogeneous Multi-Robot Systems 265 Yue Wang and Li Wang 10.1 Introduction 265 10.2 Problem Formulation 268 10.2.1 Robot Models 268 10.2.2 Sensor Models 270 10.2.3 Communication Strategies 272 10.2.4 State of Awareness Dynamics 273 10.3 Cooperative Control of Heterogeneous Multi-Robot Systems 275 10.3.1 Motion Control for Boundary-Tracking UAVs 275 10.3.2 Awareness Coverage Control for Coverage Robots 275 10.3.2.1 Awareness Metric 275 10.3.2.2 Domain Coverage Algorithm 276 10.4 Simulation Results 284 10.5 Conclusion 287 References 287 Index 291