A multiattribute utility approach to target assignment

Xi Chen; Ali E. Abbas; Dušan M. Stipanović

doi:10.1115/DSCC2009-2594

A multiattribute utility approach to target assignment

Xi Chen, Ali E. Abbas, Dušan M. Stipanović

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

Abstract

This paper introduces the multiattribute utility theory to the control Lyapunov function design framework. As an illustration we focus on the problem of multi-target assignment. With this formulation, we use a global multiattribute utility function as a multivariate objective function that should be minimized for the agents to achieve their objectives. The objectives represent deviations of each agent from specified targets. We provide closed form feedback control laws, based on the multiattribute utility function, for general nonlinear multi-agent system models affine in control. Finally, we present simulation results and conduct sensitivity analysis for two different models that are affine in control; basic kinematic model and nonlinear nonholonomic unicycle model.

Original language	English (US)
Title of host publication	Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
Publisher	American Society of Mechanical Engineers (ASME)
Pages	1331-1337
Number of pages	7
Edition	PART B
ISBN (Print)	9780791848920
DOIs	https://doi.org/10.1115/DSCC2009-2594
State	Published - 2010
Event	2009 ASME Dynamic Systems and Control Conference, DSCC2009 - Hollywood, CA, United States Duration: Oct 12 2009 → Oct 14 2009

Publication series

Name	Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
Number	PART B

Other

Other	2009 ASME Dynamic Systems and Control Conference, DSCC2009
Country/Territory	United States
City	Hollywood, CA
Period	10/12/09 → 10/14/09

ASJC Scopus subject areas

Control and Systems Engineering

Online availability

10.1115/DSCC2009-2594

Library availability

Discover UIUC Full Text

Cite this

Chen, X., Abbas, A. E., & Stipanović, D. M. (2010). A multiattribute utility approach to target assignment. In Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009 (PART B ed., pp. 1331-1337). (Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009; No. PART B). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2009-2594

A multiattribute utility approach to target assignment. / Chen, Xi; Abbas, Ali E.; Stipanović, Dušan M.
Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART B. ed. American Society of Mechanical Engineers (ASME), 2010. p. 1331-1337 (Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009; No. PART B).

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

Chen, X, Abbas, AE & Stipanović, DM 2010, A multiattribute utility approach to target assignment. in Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART B edn, Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009, no. PART B, American Society of Mechanical Engineers (ASME), pp. 1331-1337, 2009 ASME Dynamic Systems and Control Conference, DSCC2009, Hollywood, CA, United States, 10/12/09. https://doi.org/10.1115/DSCC2009-2594

@inproceedings{0139564554a748d8aed43bdbee93bd97,

title = "A multiattribute utility approach to target assignment",

abstract = "This paper introduces the multiattribute utility theory to the control Lyapunov function design framework. As an illustration we focus on the problem of multi-target assignment. With this formulation, we use a global multiattribute utility function as a multivariate objective function that should be minimized for the agents to achieve their objectives. The objectives represent deviations of each agent from specified targets. We provide closed form feedback control laws, based on the multiattribute utility function, for general nonlinear multi-agent system models affine in control. Finally, we present simulation results and conduct sensitivity analysis for two different models that are affine in control; basic kinematic model and nonlinear nonholonomic unicycle model.",

author = "Xi Chen and Abbas, {Ali E.} and Stipanovi{\'c}, {Du{\v s}an M.}",

year = "2010",

doi = "10.1115/DSCC2009-2594",

language = "English (US)",

isbn = "9780791848920",

series = "Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009",

publisher = "American Society of Mechanical Engineers (ASME)",

number = "PART B",

pages = "1331--1337",

booktitle = "Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009",

edition = "PART B",

note = "2009 ASME Dynamic Systems and Control Conference, DSCC2009 ; Conference date: 12-10-2009 Through 14-10-2009",

}

TY - GEN

T1 - A multiattribute utility approach to target assignment

AU - Chen, Xi

AU - Abbas, Ali E.

AU - Stipanović, Dušan M.

PY - 2010

Y1 - 2010

N2 - This paper introduces the multiattribute utility theory to the control Lyapunov function design framework. As an illustration we focus on the problem of multi-target assignment. With this formulation, we use a global multiattribute utility function as a multivariate objective function that should be minimized for the agents to achieve their objectives. The objectives represent deviations of each agent from specified targets. We provide closed form feedback control laws, based on the multiattribute utility function, for general nonlinear multi-agent system models affine in control. Finally, we present simulation results and conduct sensitivity analysis for two different models that are affine in control; basic kinematic model and nonlinear nonholonomic unicycle model.

AB - This paper introduces the multiattribute utility theory to the control Lyapunov function design framework. As an illustration we focus on the problem of multi-target assignment. With this formulation, we use a global multiattribute utility function as a multivariate objective function that should be minimized for the agents to achieve their objectives. The objectives represent deviations of each agent from specified targets. We provide closed form feedback control laws, based on the multiattribute utility function, for general nonlinear multi-agent system models affine in control. Finally, we present simulation results and conduct sensitivity analysis for two different models that are affine in control; basic kinematic model and nonlinear nonholonomic unicycle model.

UR - http://www.scopus.com/inward/record.url?scp=77953774720&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77953774720&partnerID=8YFLogxK

U2 - 10.1115/DSCC2009-2594

DO - 10.1115/DSCC2009-2594

M3 - Conference contribution

AN - SCOPUS:77953774720

SN - 9780791848920

T3 - Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009

SP - 1331

EP - 1337

BT - Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009

PB - American Society of Mechanical Engineers (ASME)

T2 - 2009 ASME Dynamic Systems and Control Conference, DSCC2009

Y2 - 12 October 2009 through 14 October 2009

ER -

A multiattribute utility approach to target assignment

Abstract

Publication series

Other

ASJC Scopus subject areas

Online availability

Library availability

Related links

Fingerprint

Cite this