Deployment of Multi-Agent Robotic Systems in Presence of Obstacles

2010 ◽  
Author(s):  
Ali Soltani ◽  
Hassan Sayyaadi
Keyword(s):  
Distributed Algorithm ◽  
Robotic Systems ◽  
Virtual Agents ◽  
Weber Problem ◽  
Multi Agent Systems ◽  
Median Problem ◽  
Voronoi Cells ◽  
Agent Systems ◽  
Multi Agent ◽  
Simulation Results

The deployment of multi-agent systems in presence of obstacle deals with autonomous motion of agents toward a specified target by sensing each other and boundaries of obstacles. In this paper, asynchronous, scalable, distributed algorithm is used to deploy agents. Boundaries of obstacles are modeled by virtual agents. Algorithm was implemented by solving continuous n-median problem called generalized Fermat-Weber problem. It is shown that deployment is performed when position of real agents are the geometric median of their Voronoi cells. Simulation results show the validity of the proposed algorithm very well.

scholarly journals Nonlinear Consensus Protocol Modified from Doubly Stochastic Quadratic Operators in Networks of Dynamic Agents

Symmetry ◽  
2019 ◽  
Vol 11 (12) ◽  
pp. 1519 ◽  
Author(s):  
Rawad Abdulghafor ◽  
Sultan Almotairi ◽  
Hamad Almohamedh ◽  
Sherzod Turaev ◽  
Badr Almutairi
Keyword(s):  
Theoretical Analysis ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Doubly Stochastic ◽  
Average Consensus ◽  
Multi Agent ◽  
Mathematical Equations ◽  
Simulation Results

This article explores nonlinear convergence to limit the effects of the consensus problem that usually occurs in multi-agent systems. Most of the existing research essentially considers the outline of linear protocols, using complex mathematical equations in various orders. In this work, however, we designed and developed an alternative nonlinear protocol based on simple and effective mathematical approaches. The designed protocol in this sense was modified from the Doubly Stochastic Quadratic Operators (DSQO) and was aimed at resolving consensus problems. Therefore, we called it Modified Doubly Stochastic Quadratic Operators (MDSQO). The protocol was derived in the context of coordinated systems to overcome the consensus issue related to multi-agent systems. In the process, we proved that by using the proposed nonlinear protocol, the consensus could be reached via a common agreement among the agents (average consensus) in a fast and easy fashion without losing any initial status. Moreover, the investigated nonlinear protocol of MDSQO realized the reaching consensus always as well as DSQO in some cases, which could not reach consensus. Finally, simulation results were given to prove the validity of the theoretical analysis.

scholarly journals ABSTRACT DATA TYPES FOR KNOWLEDGE REPRESENTATION AND SPECIFICATION OF MULTI-AGENT SYSTEMS

2021 ◽  
Vol 2 (336) ◽  
pp. 48-55
Author(s):  
A. Satybaldiyeva ◽  
A. Ismailova ◽  
R. Moldasheva ◽  
A. Mukhanova ◽  
K. Kadirkulov
Keyword(s):  
Distributed System ◽  
Distributed Algorithm ◽  
Multiagent System ◽  
Social Software ◽  
Multi Agent Systems ◽  
Data Types ◽  
Agent Systems ◽  
Social Ability ◽  
Internal States ◽  
Multi Agent

Distributed system is a group of decentralized interacting executers. Distributed algorithm is the communication protocol for a distributed system that transforms the group into a team to solve some task. Multiagent system is a distributed system that consists of autonomous reactive agents, i.e. executers which internal states can be characterized in terms Believes (B), Desires (D), and Intentions (I). Multiagent algorithm is a distributed algorithm for a multiagent system. The article discusses the basic concepts of agents and multi-agent systems. Also, two problems of multi-agent algorithms for representing knowledge in the context of Social Software Engineering are considered. A number of new multi-agent algorithms are presented, and their correctness is proved. The main characteristics of agents are provided, such as autonomy, proactivity, social ability, and reactivity; also, agents can have such additional characteristics as persistence, reasonability, performance, mobility, personality, and rationality. A number of new multi-agent algorithms are presented, and their correctness is proved. Two statements have been proved for solving RAM and MRP problems. This time we address a social issue of agent anonymity and privacy in these algo-rithms.

A generalized hierarchical nearly cyclic pursuit for the leader-following consensus problem in multi-agent systems

2017 ◽  
Vol 40 (5) ◽  
pp. 1529-1537 ◽  
Author(s):  
Muhammad Iqbal ◽  
John Leth ◽  
Trung D Ngo
Keyword(s):  
Convergence Rate ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Cyclic Pursuit ◽  
Leader Following ◽  
Multi Agent ◽  
Simulation Results ◽  
Pursuit Strategy

In this paper, we solve the leader-following consensus problem using a hierarchical nearly cyclic pursuit (HNCP) strategy for multi-agent systems. We extend the nearly cyclic pursuit strategy and the two-layer HNCP to the generalized L-layer HNCP that enables the agents to rendezvous at a point dictated by a beacon. We prove that the convergence rate of the generalized L-layer HNCP for the leader-following consensus problem is faster than that of the nearly cyclic pursuit. Simulation results demonstrate the effectiveness of the proposed method.

Control Algorithms in Multi-Agent Environment

2012 ◽  
Vol 17 (3) ◽  
pp. 47-62 ◽  
Author(s):  
Adam Marchewka ◽  
Zbigniew Lutowski ◽  
Beata Marciniak ◽  
Mścisław Śrutek ◽  
Sławomir Bujnowski
Keyword(s):  
Customer Service ◽  
Service Time ◽  
General Information ◽  
Control Algorithms ◽  
Virtual Library ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Simulation Results ◽  
Number Of Iterations

Abstract In this paper the general information regarding controlling multi-agent systems has been given. The simulation results of using algorithms, proposed by authors, used for controlling groups of robots servicing the virtual library has been presented. These simulations concerned estimation of following parameters: number of iterations needed to complete a task, average customer service time and average customer awaiting service time in function of number of robots, size of library and number of exchange points.

Finite-Time H∞ Consensus of Multi-Agent Systems with a Leader

2012 ◽  
Vol 241-244 ◽  
pp. 1608-1613 ◽  
Author(s):  
Li Po Mo ◽  
Han Yu Zhang ◽  
Hai Yang Hu
Keyword(s):  
Lyapunov Stability ◽  
Finite Time ◽  
Tracking Control ◽  
Multi Agent Systems ◽  
H Infinity ◽  
Agent Systems ◽  
H Infinity Control ◽  
Multi Agent ◽  
Simulation Results ◽  
The Given

This paper is focused on the problem of finite-time H-infinity tracking control for the uncertain multi-agent systems with a leader. First, a nonlinear finite time H-infinity tracking control protocol is proposed for multi-agent systems. Second, it is proved that the given protocol can make the closed system reach consensus in finite time based on the theory of finite-time Lyapunov stability and the theory of robust H-infinity control theory. Finally, the simulation results are presented to illustrate the effectiveness of the obtained results.

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