Decentralized control across
bit-limited communication channels: an example
-- Ling
shi, Kevin Ko, Zhipu Jin, Dennice Gayme, Vijay
Gupta, Steve Waydo, Leonard Schulman and Richard M. Murray, Proceedings
of the American Control Conference, 2005 (ACC 2005)
Page(s):3348 - 3353.
We formulate a simple discrete time two-agent optimal formation control
problem with limited communication capacity. Two cases are studied:
without communication constraints and with limited communication
capacity. In the first case, we show how to approach the globally
optimal solution with local decisions. In the second case, a
performance metric is introduced and we show that the performance can
be impaired by as much as 20% if we limit the amount of information
exchanged in real time. We also introduce a noisy channel into our
problem and present some preliminary results.
conference submission
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