José Mario Mastrangelo, Dominik Baumann, Sebastian Trimpe
Intelligent Control Systems Group
Max Planck Institute for Intelligent Systems
July 2019
A predictive triggering (PT) framework for the distributed control of resource constrained multi-agent systems is proposed. By predicting future communication demands and deriving a probabilistic priority measure, the PT framework is able to allocate limited communication resources in advance. The framework is evaluated through simulations of a cooperative adaptive cruise control system and experiments on multi-agent cart-pole systems. The results of these studies show its effectiveness over other event-triggered designs at reducing network utilization, while also improving the control error of the system.
Stabilization task with disturbance at 20s using the ET1 design (N = 10 agents, K = 2 communication slots)
Stabilization task with disturbance at 20s using the developed PT framework (N = 10 agents, K = 2 communication slots).
Stabilization task with (Left) PT framework, (Right) ET1 design (N = 10 agents and K = 2 communication slots)