Distributed Control of Cooperative Multi-Agent Systems: Combined Top-Down and Bottom-Up Design
[Technical Report, Final Report]
University of Notre Dame
Pagination or Media Count:
The major goal of this project was to develop a hierarchical control architecture for cooperative multi-agent systems that has the potential to unify existing design methods for multi-agent systems from both top-down and bottom-up design perspectives. Under this unified design framework, we explored both top-down and bottom-up design methods for cooperative multi-agent systems. a. From the top-down design perspective, we studied the key issue, namely the task decomposition issue, which refers to how to decompose a given global mission for a team of cooperative agents into individual tasks so that the accomplishment of individual tasks by each agent implies the fulfillment of the global mission by the team. b. From the bottom-up design perspective, we investigated a passivity based design method to explore the composition of basic dynamic motion primitives.
- Operations Research