Decentralized design with localized objective in formation control

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Formation control deals with the design of decentralized feedback laws that stabilize agents around a target configuration. In this context, the target configuration is a global design variable for the system. We call decentralized design with localized objective the design of control laws in which agents have an incomplete knowledge of the global design variable. We explain how objective localization allows us to address privacy and modularity issues in decentralized systems. Our goal is to develop a systematic approach to establish lower bounds on the amount of information about the global design variable agents need in order to cooperate successfully. To this end, we study a simple four agents formation and show that exponential stabilization is possible with a decentralized execution and non-localized objective but impossible with a decentralized execution and localized objective.

Original languageEnglish (US)
Title of host publication2013 American Control Conference, ACC 2013
Pages1308-1313
Number of pages6
StatePublished - Sep 11 2013
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: Jun 17 2013Jun 19 2013

Publication series

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

Other

Other2013 1st American Control Conference, ACC 2013
CountryUnited States
CityWashington, DC
Period6/17/136/19/13

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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