Multi-agent coordination via a shared wireless spectrum
Multi-agent coordination via a shared wireless spectrum
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DOI：
10.1109/cdc.2017.8264671
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发表时间：
2017-12
期刊：
影响因子：
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通讯作者：
Cameron Nowzari
中科院分区：
文献类型：
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作者：
Cameron Nowzari
本文考虑了一个平面多智能体协调问题。与其他相关的作品，我们明确考虑一个全球共享的无线通信信道，每个代理必须选择的频率和功率来发送他们的消息。这个问题的动机是迫切需要的算法，能够有效地和可靠地运行在过度拥挤的无线网络或其他性能差的RF环境。我们开发了一个自触发的协调算法，保证收敛到所需的一组状态的概率为1。该算法是通过使用事件/自触发协调的思想开发的，并允许代理自主决定何时广播信息，以何种频率和功率，以及如何根据从网络中的其他代理接收的信息移动。模拟结果说明了我们的结果。
This paper considers a planar multi-agent coordination problem. Unlike other related works, we explicitly consider a globally shared wireless communication channel where individual agents must choose both a frequency and power to transmit their messages at. This problem is motivated by the pressing need for algorithms that are able to efficiently and reliably operate on overcrowded wireless networks or otherwise poor-performing RF environments. We develop a self-triggered coordination algorithm that guarantees convergence to the desired set of states with probability 1. The algorithm is developed by using ideas from event/self-triggered coordination and allows agents to autonomously decide for themselves when to broadcast information, at which frequency and power, and how to move based on information received from other agents in the network. Simulations illustrate our results.