A Distributed Framework for Real Time Path Planning in Practical Multi-agent Systems

Handle URI:
http://hdl.handle.net/10754/626060
Title:
A Distributed Framework for Real Time Path Planning in Practical Multi-agent Systems
Authors:
Abdelkader, Mohamed ( 0000-0002-7099-9214 ) ; Jaleel, Hassan; Shamma, Jeff S. ( 0000-0001-5638-9551 )
Abstract:
We present a framework for distributed, energy efficient, and real time implementable algorithms for path planning in multi-agent systems. The proposed framework is presented in the context of a motivating example of capture the flag which is an adversarial game played between two teams of autonomous agents called defenders and attackers. We start with the centralized formulation of the problem as a linear program because of its computational efficiency. Then we present an approximation framework in which each agent solves a local version of the centralized linear program by communicating with its neighbors only. The premise in this work is that for practical multi-agent systems, real time implementability of distributed algorithms is more crucial then global optimality. Thus, instead of verifying the proposed framework by performing offline simulations in MATLAB, we run extensive simulations in a robotic simulator V-REP, which includes a detailed dynamic model of quadrotors. Moreover, to create a realistic scenario, we allow a human operator to control the attacker quadrotor through a joystick in a single attacker setup. These simulations authenticate that the proposed framework is real time implementable and results in a performance that is comparable with the global optimal solution under the considered scenarios.
KAUST Department:
Physical Sciences and Engineering (PSE) Division; Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
Citation:
Abdelkader M, Jaleel H, Shamma JS (2017) A Distributed Framework for Real Time Path Planning in Practical Multi-agent Systems. IFAC-PapersOnLine 50: 10626–10631. Available: http://dx.doi.org/10.1016/j.ifacol.2017.08.1035.
Publisher:
Elsevier BV
Journal:
IFAC-PapersOnLine
Issue Date:
19-Oct-2017
DOI:
10.1016/j.ifacol.2017.08.1035
Type:
Article
ISSN:
2405-8963
Sponsors:
Research supported by funding from KAUST.
Additional Links:
http://www.sciencedirect.com/science/article/pii/S2405896317315185
Appears in Collections:
Articles; Physical Sciences and Engineering (PSE) Division; Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division

Full metadata record

DC FieldValue Language
dc.contributor.authorAbdelkader, Mohameden
dc.contributor.authorJaleel, Hassanen
dc.contributor.authorShamma, Jeff S.en
dc.date.accessioned2017-10-31T08:02:07Z-
dc.date.available2017-10-31T08:02:07Z-
dc.date.issued2017-10-19en
dc.identifier.citationAbdelkader M, Jaleel H, Shamma JS (2017) A Distributed Framework for Real Time Path Planning in Practical Multi-agent Systems. IFAC-PapersOnLine 50: 10626–10631. Available: http://dx.doi.org/10.1016/j.ifacol.2017.08.1035.en
dc.identifier.issn2405-8963en
dc.identifier.doi10.1016/j.ifacol.2017.08.1035en
dc.identifier.urihttp://hdl.handle.net/10754/626060-
dc.description.abstractWe present a framework for distributed, energy efficient, and real time implementable algorithms for path planning in multi-agent systems. The proposed framework is presented in the context of a motivating example of capture the flag which is an adversarial game played between two teams of autonomous agents called defenders and attackers. We start with the centralized formulation of the problem as a linear program because of its computational efficiency. Then we present an approximation framework in which each agent solves a local version of the centralized linear program by communicating with its neighbors only. The premise in this work is that for practical multi-agent systems, real time implementability of distributed algorithms is more crucial then global optimality. Thus, instead of verifying the proposed framework by performing offline simulations in MATLAB, we run extensive simulations in a robotic simulator V-REP, which includes a detailed dynamic model of quadrotors. Moreover, to create a realistic scenario, we allow a human operator to control the attacker quadrotor through a joystick in a single attacker setup. These simulations authenticate that the proposed framework is real time implementable and results in a performance that is comparable with the global optimal solution under the considered scenarios.en
dc.description.sponsorshipResearch supported by funding from KAUST.en
dc.publisherElsevier BVen
dc.relation.urlhttp://www.sciencedirect.com/science/article/pii/S2405896317315185en
dc.rightsNOTICE: this is the author’s version of a work that was accepted for publication in IFAC-PapersOnLine. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in IFAC-PapersOnLine, [50, 1, (2017-10-19)] DOI: 10.1016/j.ifacol.2017.08.1035 . © 2017. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/en
dc.subjectControl under communication constraintsen
dc.subjectCooperative systemsen
dc.subjectCoordination of multiple vehicle systemsen
dc.subjectprogrammingen
dc.subjectReal-time algorithmsen
dc.subjectReal-time controlen
dc.subjectschedulingen
dc.titleA Distributed Framework for Real Time Path Planning in Practical Multi-agent Systemsen
dc.typeArticleen
dc.contributor.departmentPhysical Sciences and Engineering (PSE) Divisionen
dc.contributor.departmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Divisionen
dc.identifier.journalIFAC-PapersOnLineen
dc.eprint.versionPost-printen
kaust.authorAbdelkader, Mohameden
kaust.authorJaleel, Hassanen
kaust.authorShamma, Jeff S.en
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