Coordinated Cooperative Distributed Decision-Making Using Synchronization of Local Plans

Centralized decision-making for a Networked Control System (NCS) suffers from high computational burden on the planning agent. Distributed agents, which compute cooperative decision-making, increase performance. In agents locally plan subset of all agents. Due to only local system knowledge these plans are inconsistent with other This inconsistency leads infeasibility plans. article introduces an algorithm synchronizing distributed decision-making. The enables parallel and achieves feasible decisions. consists two iterative steps: global synchronization. step, parallelly decisions, referred as Subsequently, consistency across is achieved using globally synchronized act reference decisions step in next iteration. each iteration, guarantees plans, while synchronization consistent that converges if coupling topology feasible. We introduce requirements achieve convergence present model predictive control example. Our evaluations car-like robots show achieved.