NDLI: Optimal Control and Game Theoretic Approaches to Cooperative Control of a Team of Multi-Vehicle Unmanned Systems

Content Provider	IEEE Xplore Digital Library
Author	Semsar, E. Khorasani, K.
Copyright Year	2007
Description	Author affiliation: Concordia Univ., Montreal (Semsar, E.; Khorasani, K.)
Abstract	The main goal of this work is to design a team of multi-agent unmanned vehicles that can accomplish consensus over a common value for vehicles' output in a leaderless topology. The interaction between agents due to information exchange is modelled in the characterization of the dynamical model of each agent. The main approach to the problem is based on cooperative game theory, however in order to clarify the cooperative nature of the method, two approaches to this problem are considered: First a semi-decentralized optimal control strategy is designed based on minimization of individual costs using local information. Next, cooperative game theory is used to ensure the team cooperation by combining individual cost into a team cost function. This cooperative solution needs the full information of the team but results in lower cost for each agent. The choice of Nash-bargaining solution among a set of Pareto-efflcient solutions for this cooperative game guarantees minimum individual cost by maximizing the difference between the cooperative (centralized) and non-cooperative (semi-decentralized) individual cost.
Starting Page	628
Ending Page	633
File Size	1131564
Page Count	6
File Format	PDF
ISBN	1424410754
DOI	10.1109/ICNSC.2007.372852
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-15
Publisher Place	UK
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Optimal control Game theory Control systems Unmanned aerial vehicles Intelligent sensors Intelligent vehicles Cost function Intelligent transportation systems Intelligent structures Vehicle dynamics
Content Type	Text
Resource Type	Article

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