An optimization algorithm for the coordinated hybrid agent framework

The coordinated hybrid agent (CHA) framework for the control of multi-agent systems (MASs) has been used to model both the homogeneous and the heterogeneous multi-agent systems. In this framework, the control of the MASs is regarded as a decentralized control and coordination of agents. The CHA framework is able to implement coordination tasks for multi-agent systems. In this study, the optimization of MASs modelled by the CHA framework is studied. The time-driven dynamics and the event-driven dynamics for the optimization of a CHA system are given. The optimization problem of the MASs is analyzed. An example is also given to illustrate how to define the optimization problem for a CHA. The forward algorithm is also introduced for solving the optimization problem for a CHA system.