Model predictive control for cloud-integrated networked multiagent systems under bandwidth allocation

2019 ◽  
Vol 500 ◽  
pp. 156-172 ◽  
Author(s):  
Hongjiu Yang ◽  
Shuang Ju ◽  
Jinhui Zhang ◽  
Huanhuan Yuan
Keyword(s):  
Model Predictive Control ◽  
Multiagent Systems ◽  
Predictive Control ◽  
Bandwidth Allocation ◽  
Networked Multiagent Systems

Robust Connectivity for Multiagent Systems using Mixed-Integer Programming

2020 ◽  
Author(s):  
Angelo Caregnato-Neto ◽  
Marcos R. O. A. Maximo ◽  
Rubens J. M. Afonso
Keyword(s):  
Communication Network ◽  
Integer Programming ◽  
Model Predictive Control ◽  
Mobile Robots ◽  
Mixed Integer Programming ◽  
Multiagent Systems ◽  
Network Model ◽  
Predictive Control ◽  
Mixed Integer ◽  
Connectivity Problem

This work is concerned with the problem of planning trajectories for a group of mobile robots operating in a obstacle-filled environment. The objective of the robots is to cooperatively reach targets sets, avoiding collisions between themselves and with obstacles, while maintaining the robust connectivity of their communication network. Model predictive control with mixed-integer encoding is used to plan the trajectories in a centralized fashion. Two novel constraints are introduced to cope with the robustness connectivity problem. Simulations are provided to evaluate the proposal.

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