In many multi-agent scenarios, agents must balance both local and global performance and collaboration objectives with the constraints of efficient resource utilization. Here, consensus problems with fixed communication graphs are considered, where agents strive to reach a common decision value in minimum time while simultaneously minimizing a performance cost that measures the deviation of the decision value from the desired value. The paper offers preliminary results on the selection of meaningful decision values that approximate optimal solutions. The proposed approach shows a fast convergence time and also reduces the overall number of information transmissions by the agents in the network.
- Dynamic Systems and Control Division
Decentralized Sub-Optimal Minimum-Time Consensus
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Garcia, E, Cao, Y, & Casbeer, DW. "Decentralized Sub-Optimal Minimum-Time Consensus." Proceedings of the ASME 2014 Dynamic Systems and Control Conference. Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems. San Antonio, Texas, USA. October 22–24, 2014. V001T14A002. ASME. https://doi.org/10.1115/DSCC2014-5879
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