Show simple item record

dc.contributor.authorAbdelkader, Mohamed
dc.contributor.authorJaleel, Hassan
dc.contributor.authorShamma, Jeff S.
dc.date.accessioned2017-10-31T08:02:07Z
dc.date.available2017-10-31T08:02:07Z
dc.date.issued2017-10-19
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.
dc.identifier.issn2405-8963
dc.identifier.doi10.1016/j.ifacol.2017.08.1035
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.
dc.description.sponsorshipResearch supported by funding from KAUST.
dc.publisherElsevier BV
dc.relation.urlhttp://www.sciencedirect.com/science/article/pii/S2405896317315185
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/
dc.subjectControl under communication constraints
dc.subjectCooperative systems
dc.subjectCoordination of multiple vehicle systems
dc.subjectprogramming
dc.subjectReal-time algorithms
dc.subjectReal-time control
dc.subjectscheduling
dc.titleA Distributed Framework for Real Time Path Planning in Practical Multi-agent Systems
dc.typeArticle
dc.contributor.departmentPhysical Sciences and Engineering (PSE) Division
dc.contributor.departmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
dc.identifier.journalIFAC-PapersOnLine
dc.eprint.versionPost-print
kaust.personAbdelkader, Mohamed
kaust.personJaleel, Hassan
kaust.personShamma, Jeff S.
refterms.dateFOA2018-06-13T12:12:25Z


Files in this item

Thumbnail
Name:
ifac2017_Abdelkader.pdf
Size:
321.7Kb
Format:
PDF
Description:
Accepted Manuscript

This item appears in the following Collection(s)

Show simple item record