Optimal Multi-Agent Coordination Under Tree Formation Constraints
نویسندگان
چکیده
منابع مشابه
Multi-Agent Planning and Coordination Under Resource Constraints
The research described in this thesis stems from ROBOCARE1, a three year research project aimed at developing software and robotic technology for providing intelligent support for elderly people. This thesis deals with two problems which have emerged in the course of the project’s development: Multi-agent coordination with scarce resources. Multi-agent planning is concerned with automatically d...
متن کاملMulti-Agent Coordination through Coalition Formation
Incorporating coalition formation algorithms into agent systems shall be advantageous due to the consequent increase in the overall quality of task performance. Coalition formation was addressed in game theory, however the game theoretic approach is centralized and computationally intractable. Recent work in DAI has resulted in distributed algorithms with computational tractability. This paper ...
متن کاملSynchronous and asynchronous multi-agent coordination with cLTL+ constraints
Planning trajectories for multiple agents in a way to guarantee that their collective behavior satisfies a certain high-level specification is crucial in many application domains. Motivated by this problem, we introduce a new logic called counting linear temporal logic plus (cLTL+). This logic enables specifying multi-agent tasks over possibly infinite horizons in a compact manner. We then prop...
متن کاملConjugate Points in Formation Constrained Optimal Multi-Agent Coordination: A Case Study
In this paper, an optimal coordinated motion planning problem for multiple agents subject to constraints on the admissible formation patterns is formulated. Solutions to the problem are reinterpreted as distance minimizing geodesics on a certain manifold with boundary. A geodesic on this manifold may fail to be a solution for different reasons. In particular, if a geodesic possesses conjugate p...
متن کاملExperimental Multi-Vehicle Path Coordination under Communication Connectivity Constraints
The main contribution of this paper is the experimental validation of a decentralized Receding Horizon Mixed Integer Nonlinear Programming (RH-MINLP) framework that can be used to solve the Multi-Vehicle Path Coordination (MVPC) problem. The MVPC problem features path-constrained vehicles that begin their transit from a fixed starting point and move towards a goal point along fixed paths so as ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2008
ISSN: 0018-9286
DOI: 10.1109/tac.2008.919855