A decentralized algorithm for control of autonomous agents coupled by feasibility constraints

Ugo Rosolia; Francesco Braghin; Andrew G. Alleyne; Stijn De Bruyne; Edoardo Sabbioni

doi:10.23919/ACC.2017.7963467

A decentralized algorithm for control of autonomous agents coupled by feasibility constraints

Ugo Rosolia, Francesco Braghin, Andrew G. Alleyne, Stijn De Bruyne, Edoardo Sabbioni

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper a decentralized control algorithm for systems composed of N dynamically decoupled agents, coupled by feasibility constraints, is presented. The control problem is divided into N optimal control sub-problems and a communication scheme is proposed to decouple computations. The derivative of the solution of each sub-problem is used to approximate the evolution of the system allowing the algorithm to decentralize and parallelize computations. The effectiveness of the proposed algorithm is shown through simulations in a cooperative driving scenario.

Original language	English (US)
Title of host publication	2017 American Control Conference, ACC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3367-3372
Number of pages	6
ISBN (Electronic)	9781509059928
DOIs	https://doi.org/10.23919/ACC.2017.7963467
State	Published - Jun 29 2017
Event	2017 American Control Conference, ACC 2017 - Seattle, United States Duration: May 24 2017 → May 26 2017

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Other

Other	2017 American Control Conference, ACC 2017
Country	United States
City	Seattle
Period	5/24/17 → 5/26/17

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ASJC Scopus subject areas

Electrical and Electronic Engineering

Cite this

Rosolia, U., Braghin, F., Alleyne, A. G., De Bruyne, S., & Sabbioni, E. (2017). A decentralized algorithm for control of autonomous agents coupled by feasibility constraints. In 2017 American Control Conference, ACC 2017 (pp. 3367-3372). [7963467] (Proceedings of the American Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC.2017.7963467

A decentralized algorithm for control of autonomous agents coupled by feasibility constraints. / Rosolia, Ugo; Braghin, Francesco; Alleyne, Andrew G.; De Bruyne, Stijn; Sabbioni, Edoardo.

2017 American Control Conference, ACC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 3367-3372 7963467 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Rosolia, U, Braghin, F, Alleyne, AG, De Bruyne, S & Sabbioni, E 2017, A decentralized algorithm for control of autonomous agents coupled by feasibility constraints. in 2017 American Control Conference, ACC 2017., 7963467, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 3367-3372, 2017 American Control Conference, ACC 2017, Seattle, United States, 5/24/17. https://doi.org/10.23919/ACC.2017.7963467

Rosolia U, Braghin F, Alleyne AG, De Bruyne S, Sabbioni E. A decentralized algorithm for control of autonomous agents coupled by feasibility constraints. In 2017 American Control Conference, ACC 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 3367-3372. 7963467. (Proceedings of the American Control Conference). https://doi.org/10.23919/ACC.2017.7963467

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Access to Document

10.23919/ACC.2017.7963467