NDLI: A hybrid, self-organizing controller for multi-agent motion planning in a stationary environment

Content Provider	IEEE Xplore Digital Library
Author	Masoud, A.A.
Copyright Year	1996
Description	Author affiliation: 94 Bagot St., Kingston, Ont., Canada (Masoud, A.A.)
Abstract	This work explores the construction of a decentralized traffic controller for more than one agents sharing a workspace with stationary forbidden regions. The suggested controller is required to be complete and have a computational effort that linearly increase with the number of agents. The controller is also required to be self-organizing, therefore is able to generate the needed information that is required to execute a successful action. In addition to the above, the controller is required to be open to enable any agent to join or leave the group without the remaining agents having to adjust the manner in which they function. To meet these requirements a new definition of decentralization is suggested. This definition equates decentralization to self-organization. Hybrid systems, as well as the potential field approach for control action synthesis are used to convert the above definition into a workable framework for the generation of decentralized control. Theoretical development, as well as simulation results are provided.
Starting Page	13
Ending Page	19
File Size	645141
Page Count	7
File Format	PDF
ISBN	0780329783
ISSN	21589860
DOI	10.1109/ISIC.1996.556170
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-09-15
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Distributed control Centralized control Shape control Control systems Potential well Control system synthesis Hybrid power systems Supervisory control Multiagent systems
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in