@article{54fc53e33e33430abe49e38361a20919,
title = "A Distributed Framework for Real Time Path Planning in Practical Multi-agent Systems",
abstract = "We present a framework for distributed, energy efficient, and real time implementable algorithms for path planning in multi-agent systems. The proposed framework is presented in the context of a motivating example of capture the flag which is an adversarial game played between two teams of autonomous agents called defenders and attackers. We start with the centralized formulation of the problem as a linear program because of its computational efficiency. Then we present an approximation framework in which each agent solves a local version of the centralized linear program by communicating with its neighbors only. The premise in this work is that for practical multi-agent systems, real time implementability of distributed algorithms is more crucial then global optimality. Thus, instead of verifying the proposed framework by performing offline simulations in MATLAB, we run extensive simulations in a robotic simulator V-REP, which includes a detailed dynamic model of quadrotors. Moreover, to create a realistic scenario, we allow a human operator to control the attacker quadrotor through a joystick in a single attacker setup. These simulations authenticate that the proposed framework is real time implementable and results in a performance that is comparable with the global optimal solution under the considered scenarios.",
keywords = "Control under communication constraints, Cooperative systems, Coordination of multiple vehicle systems, Real-time algorithms, Real-time control, programming, scheduling",
author = "Mohamed Abdelkader and Hassan Jaleel and Shamma, {Jeff S.}",
note = "Funding Information: tqhuaandrooptotirms atlhpaterhfoarvme ahnicgeh.eIrn-oprdaerrticcuolmarp,lefoxr dsyynstaemmiscsl,ikiet tqhuaandrooptotirms atlhpaterhfoarvme ahnicgeh.eIrn-oprdaerrticcuolmarp,lefoxr dsyynstaemmiscsl,ikiet qisuaeddxrrtoorteomrselytthhaaimt phhoaarvteanhhtiigghtoer-coorrmddeepructeomaplefexxasddibyynleamcoiiccnsst,roitl qisuaedxrtorteomrselythaimt phoarvteanhtightoer-coormdepructeomaplefexasdibynleamcoicnst,roitl iascteioxntrienmreelayl tiiimmmpeo. rrOttaapntittmtaolityccoomf ppcouuntteetroaal affceetaaissoiinbbslleeis caolwnnttarryoosll iascteioxntrienmreelayl tiimmpeo. rOtapntitmtaolitycoomf pcountetroal afcetaisoinbsleis caolwntaryosl adcetsiiorannbiilnne rrbeeuaatll time.cOOomppttpiilmmexaailltiiyttyforff coonmttprrooulltiaanccgttiitoohnnesssiiessaclltwwioaanyysss adcetsiioranbilne rbeuatl time.cOomptpilmexailtiytyfoorf conmtproultiancgtitohnessies acltwioanyss desirable but time complexity for computing these actions ★deRsiraeseblearchbutsupptimortede cboymfundingplexityfromfor coKAmUpuST.ting these actions ★ Research supported by funding from KAUST. ★ Research supported by funding from KAUST. Research supported by funding from KAUST. Copyright {\textcopyright} 2017 IFAC 11113 C24o0p5y-r8i9g6h3t {\textcopyright}{\textcopyright} 22001177, IIFFAC (International Federation of Automatic Cont1r1o1l)1 3Hosting by Elsevier Ltd. All rights reserved. CPeer review under responsibility of International Federation of Automatic Control.opyright {\textcopyright} 2017 IFAC 11113 Copyright {\textcopyright} 2017 IFAC 11113 10.1016/j.ifacol.2017.08.1035 Publisher Copyright: {\textcopyright} 2017",
year = "2017",
month = jul,
doi = "10.1016/j.ifacol.2017.08.1035",
language = "English (US)",
volume = "50",
pages = "10626--10631",
journal = "IFAC-PapersOnLine",
issn = "2405-8963",
publisher = "IFAC Secretariat",
number = "1",
}