Cooperative Control / Edition 1

Hardcover (Print)
Buy New
Buy New from BN.com
$171.25
Used and New from Other Sellers
Used and New from Other Sellers
from $70.99
Usually ships in 1-2 business days
(Save 65%)
Other sellers (Hardcover)
  • All (8) from $70.99   
  • New (5) from $163.23   
  • Used (3) from $70.99   

Overview

The paradigm of ‘multi-agent’ cooperative control is the challenge frontier for new control system application domains, and as a research area it has experienced a considerable increase in activity in recent years. This volume, the result of a UCLA collaborative project with Caltech, Cornell and MIT, presents cutting edge results in terms of the “dimensions” of cooperative control from leading researchers worldwide. This dimensional decomposition allows the reader to assess the multi-faceted landscape of cooperative control.

Cooperative Control of Distributed Multi-Agent Systems is organized into four main themes, or dimensions, of cooperative control: distributed control and computation, adversarial interactions, uncertain evolution and complexity management. The military application of autonomous vehicles systems or multiple unmanned vehicles is primarily targeted; however much of the material is relevant to a broader range of multi-agent systems including cooperative robotics, distributed computing, sensor networks and data network congestion control.

Cooperative Control of Distributed Multi-Agent Systems offers the reader an organized presentation of a variety of recent research advances, supporting software and experimental data on the resolution of the cooperative control problem. It will appeal to senior academics, researchers and graduate students as well as engineers working in the areas of cooperative systems, control and optimization.

Read More Show Less

Product Details

  • ISBN-13: 9780470060315
  • Publisher: Wiley
  • Publication date: 3/7/2008
  • Edition number: 1
  • Pages: 452
  • Product dimensions: 6.83 (w) x 9.78 (h) x 1.17 (d)

Meet the Author

Jeff Shamma's research interest is feedback control and systems theory. He received a Ph.D. in Systems Science and Engineering in 1988 from the Massachusetts Institute of Technology, Department of Mechanical Engineering. His previous faculty positions have included the University of Minnesota, Minneapolis, and the University of Texas, Austin. Since 1999, he has been with UCLA, where he is currently a Professor of Mechanical and Aerospace Engineering. He served as the MAE Department Vice Chair for Graduate Affairs from 2000-2002.  Jeff Shamma is also the recipient of the NSF Young Investigator Award (1992), a recipient of the American Automatic Control Council Donald P. Eckman Award (1996), a past Plenary Speaker at the American Control Conference (1998), and a Fellow of the IEEE (2006).  He has served on the editorial boards of the IEEE Transactions on Automatic Control and Systems & Control Letters.

Read More Show Less

Table of Contents

List of Contributors.

Preface.

Part I. Introduction.

1. Dimensions of cooperative control (Jeff S. Shamma and Gurdal Arslan).

1.1 Why cooperative control?

1.2 Dimensions of cooperative control.

1.3 Future directions.

Acknowledgements.

References

Part II. Distributed Control and Computation.

2. Design of behavior of swarms: From flocking to data fusion using microfilter networks (Reza Olfati-Saber).

2.1 Introduction.

2.2 Consensus problems.

2.3 Flocking behavior for distributed coverage.

2.4 Microfilter networks for cooperative data fusion.

Acknowledgements.

References.

3. Connectivity and convergence of formations (Sonja Glavaski, Anca Williams and Tariq Samad).

3.1 Introduction.

3.2 Problem formulation.

3.3 Algebraic graph theory.

3.4 Stability of vehicle formations in the case of time-invariant communication.

3.5 Stability of vehicle formations in the case of time-variant communication.

3.6 Stabilizing feedback for the time-variant communication case.

3.7 Graph connectivity and stability of vehicle formations.

3.8 Conclusion.

Acknowledgements.

References.

4. Distributed receding horizon control: stability via move suppression (William B. Dunbar).

4.1 Introduction.

4.2 System description and objective.

4.3 Distributed receding horizon control.

4.4 Feasibility and stability analysis.

4.5 Conclusion.

Acknowledgements.

References.

5. Distributed predictive control: synthesis, stability and feasibility (Tamàs Keviczky, Francesco Borrelli and Gary J. Balas).

5.1 Introduction.

5.2 Problem formulation.

5.3 Distributed MPC scheme.

5.4 DMPC stability analysis.

5.5 Distributed design for identical unconstrained LTI subsystems.

5.6 Ensuring feasibility.

5.7 Conclusion.

References.

6. Task assignment for mobile agents (Brandon J. Moore and Kevin M. Passino).

6.1 Introduction.

6.2 Background.

6.3 Problem statement.

6.4 Assignment algorithm and results.

6.5 Simulations.

6.6 Conclusions.

Acknowledgements.

References.

7. On the value of information in dynamic multiple-vehicle routing problems (Alessandro Arsie, John J. Enright and Emilio Frazzoli ).

7.1 Introduction.

7.2 Problem formulation.

7.3 Control policy description.

7.4 Performance analysis in light load.

7.5 A performance analysis for sTP, mTP/FG and mTP policies.

7.6 Some numerical results.

7.7 Conclusions.

References.

8. Optimal agent cooperation with local information (Eric Feron and Jan DeMot).

8.1 Introduction.

8.2 Notation and problem formulation.

8.3 Mathematical problem formulation.

8.4 Algorithm overview and LP decomposition.

8.5 Fixed point computation.

8.6 Discussion and examples.

8.7 Conclusion.

Acknowledgements.

References.

9. Multiagent cooperation through egocentric modeling (Vincent Pei-wen Seah and Jeff S. Shamma).

9.1 Introduction.

9.2 Centralized and decentralized optimization.

9.3 Evolutionary cooperation.

9.4 Analysis of convergence.

9.5 Conclusion.

Acknowledgements.

References.

Part III. Adversarial Interactions.

10. Multi-vehicle cooperative control using mixed integer linear programming (Matthew G. Earl and Raffaello D’Andrea).

10.1 Introduction.

10.2 Vehicle dynamics.

10.3 Obstacle avoidance.

10.4 RoboFlag problems.

10.5 Average case complexity.

10.6 Discussion.

10.7 Appendix: Converting logic into inequalities.

Acknowledgements.

References.

11. LP-based multi-vehicle path planning with adversaries (Georgios C. Chasparis and Jeff S. Shamma).

11.1 Introduction.

11.2 Problem formulation.

11.3 Optimization set-up.

11.4 LP-based path planning.

11.5 Implementation.

11.6 Conclusion.

Acknowledgements.

References.

12. Characterization of LQG differential games with different information patterns (Ashitosh Swarup and Jason L. Speyer).

12.1 Introduction.

12.2 Formulation of the discrete-time LQG game.

12.3 Solution of the LQG game as the limit to the LEG Game.

12.4 LQG game as the limit of the LEG Game.

12.5 Correlation properties of the LQG game filter in the limit.

12.6 Cost function properties—effect of a perturbation in up.

12.7 Performance of the Kalman filtering algorithm.

12.8 Comparison with the Willman algorithm.

12.9 Equilibrium properties of the cost function: the saddle interval.

12.10 Conclusion.

Acknowledgements.

References.

Part IV. Uncertain Evolution.

13 Modal estimation of jump linear systems: an information theoretic viewpoint (Nuno C. Martins and Munther A. Dahleh).

13.1 Estimation of a class of hidden markov models.

13.2 Problem statement.

13.3 Encoding and decoding.

13.4 Performance analysis.

13.5 Auxiliary results leading to the proof of theorem.

Acknowledgements.

References.

14. Conditionally-linear filtering for mode estimation in jump-linear systems (Daniel Choukroun and Jason L. Speyer).

14.1 Introduction.

14.2 Conditionally-Linear Filtering.

14.3 Mode-estimation for jump-linear systems.

14.4 Numerical Example.

14.5 Conclusion.

14.6 Appendix A: Inner product of equation (14.14).

14.7 Appendix B: Development of the filter equations (14.36) to (14.37).

Acknowledgements.

References.

15. Cohesion of languages in grammar networks (Y. Lee, T.C. Collier, C.E. Taylor and E.P. Stabler).

15.1 Introduction.

15.2 Evolutionary dynamics of languages.

15.3 Topologies of language populations.

15.4 Language structure.

15.5 Networks induced by structural similarity.

15.6 Conclusion.

Acknowledgements.

References.

Part V. Complexity Management.

16. Complexity management in the state estimation of multi-agent systems (Domitilla Del Vecchio and Richard M. Murray).

16.1 Introduction.

16.2 Motivating example.

16.3 Basic concepts.

16.4 Problem formulation.

16.5 Problem solution.

16.6 Example: the RoboFlag Drill.

16.7 Existence of discrete state estimators on a lattice.

16.8 Extensions to the estimation of discrete and continuous variables.

16.9 Conclusion.

Acknowledgements.

References.

17. Abstraction-based command and control with patch models (V. G. Rao, S. Goldfarb and R. D’Andrea).

17.1 Introduction.

17.2 Overview of patch models.

17.3 Realization and verification.

17.4 Human and artificial decision-making.

17.5 Hierarchical control.

17.6 Conclusion.

References.

Index.

Read More Show Less

Customer Reviews

Be the first to write a review
( 0 )
Rating Distribution

5 Star

(0)

4 Star

(0)

3 Star

(0)

2 Star

(0)

1 Star

(0)

Your Rating:

Your Name: Create a Pen Name or

Barnes & Noble.com Review Rules

Our reader reviews allow you to share your comments on titles you liked, or didn't, with others. By submitting an online review, you are representing to Barnes & Noble.com that all information contained in your review is original and accurate in all respects, and that the submission of such content by you and the posting of such content by Barnes & Noble.com does not and will not violate the rights of any third party. Please follow the rules below to help ensure that your review can be posted.

Reviews by Our Customers Under the Age of 13

We highly value and respect everyone's opinion concerning the titles we offer. However, we cannot allow persons under the age of 13 to have accounts at BN.com or to post customer reviews. Please see our Terms of Use for more details.

What to exclude from your review:

Please do not write about reviews, commentary, or information posted on the product page. If you see any errors in the information on the product page, please send us an email.

Reviews should not contain any of the following:

  • - HTML tags, profanity, obscenities, vulgarities, or comments that defame anyone
  • - Time-sensitive information such as tour dates, signings, lectures, etc.
  • - Single-word reviews. Other people will read your review to discover why you liked or didn't like the title. Be descriptive.
  • - Comments focusing on the author or that may ruin the ending for others
  • - Phone numbers, addresses, URLs
  • - Pricing and availability information or alternative ordering information
  • - Advertisements or commercial solicitation

Reminder:

  • - By submitting a review, you grant to Barnes & Noble.com and its sublicensees the royalty-free, perpetual, irrevocable right and license to use the review in accordance with the Barnes & Noble.com Terms of Use.
  • - Barnes & Noble.com reserves the right not to post any review -- particularly those that do not follow the terms and conditions of these Rules. Barnes & Noble.com also reserves the right to remove any review at any time without notice.
  • - See Terms of Use for other conditions and disclaimers.
Search for Products You'd Like to Recommend

Recommend other products that relate to your review. Just search for them below and share!

Create a Pen Name

Your Pen Name is your unique identity on BN.com. It will appear on the reviews you write and other website activities. Your Pen Name cannot be edited, changed or deleted once submitted.

 
Your Pen Name can be any combination of alphanumeric characters (plus - and _), and must be at least two characters long.

Continue Anonymously

    If you find inappropriate content, please report it to Barnes & Noble
    Why is this product inappropriate?
    Comments (optional)