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State Estimation in Multi-Agent Decision and Control Systems |
Abstract |
This thesis addresses the problem of estim … This thesis addresses the problem of estimating the state in multi-agent decision and
control systems. In particular, a novel approach to state estimation is developed that uses
partial order theory in order to overcome some of the severe computational complexity
issues arising in multi-agent systems. Within this approach, state estimation algorithms are
developed, which enjoy proved convergence properties and are scalable with the number
of agents.
<p>
The dynamic evolution of the systems under study are characterized by the interplay of
continuous and discrete variables. Continuous variables usually represent physical quan-
tities such as position, velocity, voltage, and current, while the discrete variables usually
represent quantities internal to the decision protocol that is used for coordination, com-
munication, and control. Within the proposed state estimation approach, the estimation of
continuous and discrete variables is developed in the same mathematical framework, as a
joint continuous-discrete space is considered for the estimator. This way, the dichotomy
between the continuous and discrete world is overcome for the purpose of state estimation.
<p>
Application examples are considered, which include the state estimation in competi-
tive multi-robot systems and in multi-agent discrete event systems, and the monitoring of
distributed environments. e monitoring of
distributed environments. +
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Authors | Domitilla Del Vecchio + |
ID | 2005 + |
Source | PhD Dissertation, Control and Dynamical Systems + |
Tag | ddv05-phd + |
Title | State Estimation in Multi-Agent Decision and Control Systems + |
Type | PhD Dissertation + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:18:05 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/ddv05-phd.pdf + |
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State Estimation in Multi-Agent Decision and Control Systems + | Title |
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