Cooperative Consensus-based Control of Multiagent Systems over Wireless Channels

在这个项目的第一阶段，我们调查了沟通和寻求共识之间的协同作用。在一个场景中，多个代理的目的是在无线信道上实现共识，我们设计和评估分布式算法，利用无线信道的位置属性的功能计算。这使得资源，特别是能源效率显著增加。这直接影响了我们计划在基于共识的编队控制背景下调查的两个主要权衡：（i）通过无线信道进行信息交换的频率和准确性直接相关。在信息控制场景中，这可能意味着在某些情况下（例如，当两种物质即将发生碰撞，需要快速反应时），前者可能不得不以后者为代价而增加。为了利用这种权衡，我们将研究基于事件触发广播的通信架构。(ii)增加发射功率通常会改善网络的连通性。前者意味着单个广播的能耗增加，而后者可能导致更快的收敛，因此需要的广播数量更少。利用这种权衡信息控制问题，通过调整发射功率也将正式调查。 除了利用干扰之外，我们的目标是利用不同代理人发送的信号中的（可能隐藏的）结构。这样的时空结构的知识可以，例如，用于压缩sparsesignals传输前，或恢复更准确的信息从嘈杂的传输，从而减少了资源有限的无线信道上交换的信息量。最后，我们打算通过研究一个实际的编队控制问题来证明我们的概念的适用性。个体代理是专门设计的轮式机器人，具有非完整动力学，可以配备无线电收发器。 为了利用物理层上的信号干扰，我们将采用基于模拟的全双工系统。

In the first phase of this project, we have investigated synergiesbetween communication and consensus seeking. In a scenario, wheremultiple agents aim at achieving consensus over a wireless channel, wehave designed and evaluated distributed algorithms that exploit thesuperposition property of the wireless channel for functioncomputation. These allow for a significant increase in resource, andin particular energy efficiency. This directly affects two majortrade-offs that we plan to investigate in the context ofconsensus-based formation control: (i) frequency and accuracy ofinformation exchange over wireless channels are directly related. In aformation control scenario, this may imply that in certain situations(e.g., when agents are about to collide and rapid reactions arerequired), the former may have to be increased at the cost of thelatter. To exploit this trade-off, we will investigate event-triggeredbroadcast-based communication architectures. (ii) Increasing transmitpower will in general improve connectivity of the network. The formerimplies an increase in energy consumption for individual broadcasts,whereas the latter may lead to more rapid convergence and therefore asmaller number of required broadcasts. The use of this trade-off information control problems by adapting transmit power will also beformally investigated. In addition to harnessing interference, we aimat taking advantage of (possibly hidden) structures in signalstransmitted by different agents. The knowledge of such spatio-temporalstructures can, for example, be utilized for compressing sparsesignals before transmission, or recovering more accurate informationfrom noisy transmissions, hence reducing the amount of informationexchanged over the resource-limited wireless channels. Finally, weintend to demonstrate the applicability of our concepts byinvestigating a practical formation control problem. The individualagents are specifically designed wheeled robots with nonholonomicdynamics that can be equipped with radio transceivers. To exploitinterference of signals on the physical layer, we will employanalog-based Full-Duplex systems.