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Authors: Ionela Prodan 1 ; Sorin Olaru 2 ; Cristina Stoica 2 and Silviu-Iulian Niculescu 3

Affiliations: 1 SUPELEC Systems Sciences (E3S) and SUPELEC - CNRS, France ; 2 SUPELEC Systems Sciences (E3S), France ; 3 SUPELEC - CNRS, France

Keyword(s): Multi-agent Systems, Model Predictive Control (MPC), Potential Function, Polyhedral Lyapunov Function.

Related Ontology Subjects/Areas/Topics: Agents ; Artificial Intelligence ; Artificial Intelligence and Decision Support Systems ; Cooperation and Coordination ; Distributed and Mobile Software Systems ; Enterprise Information Systems ; Knowledge Engineering and Ontology Development ; Knowledge-Based Systems ; Multi-Agent Systems ; Software Engineering ; Symbolic Systems

Abstract: This paper addresses a predictive control strategy for multi-agent formations with a time-varying topology. The goal is to guarantee a trajectory tracking, where a reference trajectory is specified for an agent designed as the leader. Then, a predictive control strategy combined with the Potential Field method is used in order to derive a control action based only on local information within the group of agents. The main concern is that the interconnections between the agents are time-varying, affecting the neighborhood around each agent. The proposed method exhibits effective performance validated through some illustrative examples.

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Paper citation in several formats:
Prodan, I.; Olaru, S.; Stoica, C. and Niculescu, S. (2012). PREDICTIVE CONTROL FOR TRAJECTORY TRACKING AND DECENTRALIZED NAVIGATION OF MULTI-AGENT FORMATIONS. In Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART; ISBN 978-989-8425-96-6; ISSN 2184-433X, SciTePress, pages 209-214. DOI: 10.5220/0003749102090214

@conference{icaart12,
author={Ionela Prodan. and Sorin Olaru. and Cristina Stoica. and Silviu{-}Iulian Niculescu.},
title={PREDICTIVE CONTROL FOR TRAJECTORY TRACKING AND DECENTRALIZED NAVIGATION OF MULTI-AGENT FORMATIONS},
booktitle={Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART},
year={2012},
pages={209-214},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003749102090214},
isbn={978-989-8425-96-6},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART
TI - PREDICTIVE CONTROL FOR TRAJECTORY TRACKING AND DECENTRALIZED NAVIGATION OF MULTI-AGENT FORMATIONS
SN - 978-989-8425-96-6
IS - 2184-433X
AU - Prodan, I.
AU - Olaru, S.
AU - Stoica, C.
AU - Niculescu, S.
PY - 2012
SP - 209
EP - 214
DO - 10.5220/0003749102090214
PB - SciTePress

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