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arXiv · 1907.12300

Predictive Triggering for Distributed Control of Resource Constrained Multi-agent Systems

José Mario Mastrangelo·Dominik Baumann·Sebastian Trimpe
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Abstract

A predictive triggering (PT) framework for the distributed control of resource constrained multi-agent systems is proposed. By predicting future communication demands and deriving a probabilistic priority measure, the PT framework is able to allocate limited communication resources in advance. The framework is evaluated through simulations of a cooperative adaptive cruise control system and experiments on multi-agent cart-pole systems. The results of these studies show its effectiveness over other event-triggered designs at reducing network utilization, while also improving the control error of the system.

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José Mario Mastrangelo, Dominik Baumann, Sebastian Trimpe. 2019-07-29. Predictive Triggering for Distributed Control of Resource Constrained Multi-agent Systems. https://arxiv.org/abs/1907.12300

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