On the compression of locational and environmental data in multi-vehicle missions: a control systems approach
Mobile agents that take part in multi-vehicle missions usually need to share environmental and locational information with other agents and with control stations through a communication channel. In real scenarios, the agents have to deal with different communication issues, such as interference, los...
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| Published in | International journal of control Vol. 86; no. 7; pp. 1281 - 1291 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Abingdon
Taylor & Francis
01.07.2013
Taylor & Francis Ltd |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0020-7179 1366-5820 |
| DOI | 10.1080/00207179.2013.800643 |
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| Abstract | Mobile agents that take part in multi-vehicle missions usually need to share environmental and locational information with other agents and with control stations through a communication channel. In real scenarios, the agents have to deal with different communication issues, such as interference, loss of connectivity and unexpected reduction of available bandwidth. One way to overcome these issues is by minimising the amount of data in the communication channel, which not only speeds up the sharing of information, but would also avoid the loss of data. We propose a control systems approach that allows the compression of the shared information. Given some problem-dependent mathematical assumptions, our method aims to simplify the calculation of the stationary errors by computing the sign of the errors rather than their exact values and the control law may then be used to stabilise the system. The approach allows for the compression of the outputs involved in the calculation of the errors as such outputs represent the shared information among agents. We carry out the theoretical analysis of our approach and apply it to two case studies, namely a formation control and a coverage control with consensus. We finally validate our theoretical results through simulations in Matlab. |
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| AbstractList | Mobile agents that take part in multi-vehicle missions usually need to share environmental and locational information with other agents and with control stations through a communication channel. In real scenarios, the agents have to deal with different communication issues, such as interference, loss of connectivity and unexpected reduction of available bandwidth. One way to overcome these issues is by minimising the amount of data in the communication channel, which not only speeds up the sharing of information, but would also avoid the loss of data. We propose a control systems approach that allows the compression of the shared information. Given some problem-dependent mathematical assumptions, our method aims to simplify the calculation of the stationary errors by computing the sign of the errors rather than their exact values and the control law may then be used to stabilise the system. The approach allows for the compression of the outputs involved in the calculation of the errors as such outputs represent the shared information among agents. We carry out the theoretical analysis of our approach and apply it to two case studies, namely a formation control and a coverage control with consensus. We finally validate our theoretical results through simulations in Matlab. Mobile agents that take part in multi-vehicle missions usually need to share environmental and locational information with other agents and with control stations through a communication channel. In real scenarios, the agents have to deal with different communication issues, such as interference, loss of connectivity and unexpected reduction of available bandwidth. One way to overcome these issues is by minimising the amount of data in the communication channel, which not only speeds up the sharing of information, but would also avoid the loss of data. We propose a control systems approach that allows the compression of the shared information. Given some problem-dependent mathematical assumptions, our method aims to simplify the calculation of the stationary errors by computing the sign of the errors rather than their exact values and the control law may then be used to stabilise the system. The approach allows for the compression of the outputs involved in the calculation of the errors as such outputs represent the shared information among agents. We carry out the theoretical analysis of our approach and apply it to two case studies, namely a formation control and a coverage control with consensus. We finally validate our theoretical results through simulations in Matlab. [PUBLICATION ABSTRACT] |
| Author | Fierro, Rafael Lewis, Frank Abdallah, Chaouki Tanios Luna, José Marcio |
| Author_xml | – sequence: 1 givenname: José Marcio surname: Luna fullname: Luna, José Marcio email: jmarcio@ece.unm.edu organization: Department of Electrical & Computer Engineering, The University of New Mexico – sequence: 2 givenname: Rafael surname: Fierro fullname: Fierro, Rafael organization: Department of Electrical & Computer Engineering, The University of New Mexico – sequence: 3 givenname: Chaouki Tanios surname: Abdallah fullname: Abdallah, Chaouki Tanios organization: Department of Electrical & Computer Engineering, The University of New Mexico – sequence: 4 givenname: Frank surname: Lewis fullname: Lewis, Frank organization: Research Institute UTARI, The University of Texas |
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| References | cit0011 cit0033 cit0012 cit0034 cit0031 cit0010 cit0032 Khalil H.K. (cit0017) 2002 cit0016 cit0013 cit0022 cit0001 cit0023 cit0020 cit0021 Pimenta L.C.A. (cit0026) 2010 Bullo F. (cit0002) 2009 Slotine J.J.E. (cit0029) 1991 cit0008 cit0009 cit0006 cit0028 cit0007 cit0004 cit0027 cit0024 cit0003 cit0025 |
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| SubjectTerms | binary consensus Channels Communication channels coverage control data compression formation control Studies |
| Title | On the compression of locational and environmental data in multi-vehicle missions: a control systems approach |
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