H. Mangesius, M. Sobotka, and O. Stursberg, “Consensus Based Decoupling in Hybrid Optimization of Cooperative Transportation Planning,” in 18th IFAC World Congress, ., Ed. Amsterdam: Elsevier, 2011, pp. 9543–9548.
Abstract
A recently introduced new class of multi-agent transportation planning is considered. Several agents have to cooperate in order to transfer a passive agent from its initial configuration to a goal configuration. Docking events refer to discrete decisions, whereas the individual agents are governed by nonlinear continuous dynamics. Modeling this problem in a hybrid optimal control framework allows computing a solution using a centralized, hierarchical optimization algorithm. Relatively well performing solutions can be found with much lower computational time by decoupling the discrete-event level from the continuous processes. This is accomplished by introducing a feedback controller based on a consensus protocol into the hierarchical optimization structure. The scalability and optimality of this approach is examined for varying information topologies in the consensus protocol and controller gains.
BibTex
@INPROCEEDINGS{MSS11,
author = {H. Mangesius and M. Sobotka and O. Stursberg},
title = {{Consensus Based Decoupling in Hybrid Optimization of Cooperative Transportation Planning}},
booktitle = {$18^{th}$ IFAC World Congress},
year = {2011},
pages = {9543-9548},
comment = {noch nicht gemeldet, ISBN: ?, ? Normseiten}
}
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