Show simple item record

dc.contributor.authorTwu, Philip Y.en_US
dc.contributor.authorMartin, Patricken_US
dc.contributor.authorEgerstedt, Magnus B.en_US
dc.date.accessioned2013-02-12T19:09:20Z
dc.date.available2013-02-12T19:09:20Z
dc.date.issued2012-12
dc.identifier.citationP. Twu, P. Martin, and M. Egerstedt, "Graph Process Specifications for Hybrid Networked Systems," Discrete Event Dynamic Systems, Vol. 22, No. 4, 541-577 (Dec. 2012)en_US
dc.identifier.issn0924-6703
dc.identifier.urihttp://hdl.handle.net/1853/46170
dc.description©2012 Springer. The original publication is available at www.springerlink.com: http://dx.doi.org/10.1007/s10626-012-0134-2en_US
dc.descriptionDOI: 10.1007/s10626-012-0134-2en_US
dc.description.abstractMany large-scale multi-agent missions consist of a sequence of subtasks, each of which can be accomplished separately by having agents execute appropriate decentralized controllers. However, many decentralized controllers have network topological prerequisites that must be satisfied in order to achieve the desired effect on a system. Therefore, one cannot always hope to accomplish the original mission by having agents naively switch through executing the controllers for each subtask. This paper extends the Graph Process Specification (GPS) framework, which was presented in previous work as a way to script decentralized control sequences for agents, while ensuring that network topological requirements are satisfied when each controller in the sequence is executed. Atoms, the fundamental building blocks in GPS, each explicitly state a network topological transition. Moreover, they specify the means to make that transition occur by providing a multi-agent controller, as well as a way to locally detect the transition. Scripting a control sequence in GPS therefore reduces to selecting a sequence of atoms from a library to satisfy network topological requirements, and specifying interrupt conditions for switching. As an example of how to construct an atom library, the optimal decentralization algorithm is used to generate atoms for agents to track desired multi-agent motions with when the network topology is static. The paper concludes with a simulation of agents performing a drumline-inspired dance using decentralized controllers generated by optimal decentralization and scripted using GPS.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectHybrid networked systemsen_US
dc.subjectGraph process specificationen_US
dc.subjectDecentralized control sequencesen_US
dc.subjectDecentralization algorithmsen_US
dc.titleGraph Process Specifications for Hybrid Networked Systemsen_US
dc.typeArticleen_US
dc.typePre-printen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineeringen_US
dc.contributor.corporatenameYork College of Pennsylvaniaen_US
dc.publisher.originalSpringeren_US
dc.identifier.doi10.1007/s10626-012-0134-2


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record