Title :
Modeling and Optimal Centralized Control of a Large-Size Robotic Population
Author :
Milutinovic, Dejan ; Lima, Pedro
Author_Institution :
Inst. for Syst. & Robotics, Lisbon
Abstract :
This paper describes an approach to the modeling and control of multiagent populations composed of a large number of agents. The complexity of population modeling is avoided by assuming a stochastic approach, under which the agent distribution over the state space is modeled. The dynamics of the state probability density functions is determined, and a control problem of maximizing the probability of robotic presence in a given region is introduced. The Minimum Principle for the optimal control of partial differential equations is exploited to solve this problem, and it is applied to the mission control of a simulated large robotic population
Keywords :
centralised control; multi-robot systems; optimal control; partial differential equations; state-space methods; stochastic processes; agent distribution; large-size robotic population; minimum principle; mission control; multiagent populations; optimal centralized control; partial differential equations; population modeling; robotic presence probability; simulated large robotic population; state probability density functions; state space modelling; stochastic approach; Automatic control; Biological system modeling; Centralized control; Communication system control; Open loop systems; Optimal control; Orbital robotics; Robotics and automation; Robots; Shape control; Hybrid automata; multirobot systems; optimal control;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2006.882941
