Resource-aware asynchronous multi-agent coordination via self-triggered MPC

Authors

Yingzhao Lian, Stefan Wildhagen, Yuning Jiang, Boris Houska, Frank Allgöwer, Colin N. Jones

Reference

In Proceedings of the
59th IEEE Conference on Decision and Control,
pages 685 - 690, Jeju Island, Republic of Korea, December, 2020.

Abstract

In many applications, resource-aware devices are connected through a network, such as in the Internet of Things and energy hubs. These devices require proper coordination to achieve a high performance without violation of their resource limits. In this paper, we propose an asynchronous resource-aware multi-agent model predictive control to cooperatively coordinate agents to conduct a common task, whose resource concern is handled by a self-triggered control scheme. The consistency and recursive feasibility of the proposed MPC scheme are investigated. A reliable numerical implementation is introduced to deal with non-constant sampling times among agents, which is subsequently validated by a numerical example.

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Bibtex

@INPROCEEDINGS{Lian2020,
author = {Lian, Y. and Wildhagen, S. and Jiang, Y. and Houska, B. and Allg"ower, F. and Jones, C.N.},
title = {Resource-aware asynchronous multi-agent coordination via self-triggered MPC},
booktitle = {In Proceedings of the 59th IEEE Conference on Decision and Control},
year = {2020},
pages = {685–690},
}