Asynchronous Distributed Event-Triggered Coordination for Multiagent Coverage Control
| Autor: | Mohanad Ajina, Cameron Nowzari, Daniel Tabatabai |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
business.industry Computer science 02 engineering and technology Broadcasting Computer Science Applications Human-Computer Interaction 020901 industrial engineering & automation Control and Systems Engineering Software deployment Asynchronous communication Convergence (routing) Coverage control Electrical and Electronic Engineering business Software Event triggered Information Systems Computer network |
| Zdroj: | IEEE Transactions on Cybernetics. 51:5941-5953 |
| ISSN: | 2168-2275 2168-2267 |
| Popis: | This article revisits a multiagent deployment problem where agents are restricted from requesting information from other agents as well as sending acknowledgments when information is received. These communication constraints relax the assumptions of instantaneous communication and synchronous actions by agents (request and response actions). In this article, we propose a fully asynchronous communication aware solution to the multiagent deployment problem that uses an event-triggered broadcasting strategy. Unlike all existing triggered solutions, our event-triggered broadcasting algorithm relies on agents to decide when to broadcast (push) information to others in the network without the need for a response from other agents. In addition, the proposed strategy determines how best to move when up-to-date information is unavailable and cannot be requested. The algorithm is capable of achieving similar levels of performance to that of a continuous or periodic strategy. Our solution is proven to achieve asymptotic convergence, and simulation results are provided to demonstrate that the proposed event-triggered broadcasting algorithm can achieve an adequate level of performance under the communication constraints. |
| Databáze: | OpenAIRE |
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