4 research outputs found
Coordinated Control for Networked Multi-Agent Systems
No full textCoordination in networked multi-agent systems attracts significant interest in the realm of engineering. Typical examples include formations of unmanned aerial vehicles, automated highway systems, and sensor networks. One common feature for these systems is that coordinated behaviors are exhibited by interactions among agents where information exchange and manipulation are necessary. In this work, three relevant issues are investigated in detail: uniform strategy for multi-agent formation control, fast-converging consensus protocols, and packet-based state estimation over communication networks.
Formation control of multi-agent systems involves harmony among local controller design, interaction topology analysis, and objective agreement among networked agents. We propose a novel control strategy so that each agent responds to neighbors' behaviors as well as acts towards the global goal. Thus, information flows for local interactions and global objective synchronization are studied separately. Using the tools from signal flow graphs and algebraic graph theory, we show that this new strategy eases the design of local controllers by relaxing stabilizing conditions. Robustness against the link failure and scalable disturbance resistance are also discussed based on small-gain theory. Experimental results on the Caltech multi-vehicle wireless testbed are provided to verify the feasibility and efficiency of this control strategy.
Consensus protocols over communication networks are used to achieve agreement among agents. One important issue is the convergence speed. We propose multi-hop relay protocols for fast consensus seeking. Without physically changing the topology of the communication network, this type of distributed protocol increases the algebraic connectivity by employing multi-hop paths in the network. We also investigate the convergence behaviors of consensus protocols with communication delays. It is interesting that, the faster the protocol converges, the more sensitive it is to the delay. This tradeoff is identified when we investigate delay margins of multi-hop relay protocols using the frequency sweep method.
Efficiently estimating the states of other agents over communication links is also discussed in this work. When information flows in the network, packet-based data is normally not retransmitted in order to satisfy real-time requirements. Thus, packet drops and random delays are inevitable. In this context, observation data that the estimator can receive is intermittent. In order to decrease the chance of losing packets and efficiently using the limited bandwidth, we introduce multiple description source codes to manipulate the data before transmission. Using modified algebraic Riccati equations, we show that multiple description codes improve the performance of Kalman filters over a large set of packet-dropping scenarios. This problem is also generalized to the case where observation data has an independent and identical static distribution over a finite set of observation noise. Moreover, Kalman filtering with bursty packet drops is also discussed based on the two-state Markov chain model.</p
Coalitional control in the framework of cooperative game theory
No full text[EN] Coalitional control is a fairly new branch of distributed control where the agents merge dynamically into coalitions according to the enabled/disabled communication links at each time instant. Therefore, with these schemes there is a reduction of the communication burden without compromising the system performance. In this tutorial, the main features of these schemes will be introduced in the framework of cooperative game theory, being the game related to the cost function that is optimized by the control approach, and with the players corresponding to either the communication links or the agents involved. In this context, several cooperative game theory tools will be considered in order to: rank the players, impose constraints on them, provide more effcient ways of calculation, perform system partitioning, etc., hence analyzing the main features related to each tool.[ES] El control coalicional es una rama incipiente del control distribuido donde los distintos agentes se agrupan de forma dinámica en coaliciones en función de los enlaces de comunicación activos/inactivos en cada instante de tiempo. Gracias a ello, se reduce la carga de comunicación sin comprometer las prestaciones del sistema. En este tutorial, se analizan las principales características de estos esquemas dentro del marco de la teoría de juegos cooperativos, estando el juego definido por la función de coste a optimizar en el esquema de control, y correspondiendo los jugadores bien a los enlaces de comunicación o bien a los propios agentes. En este contexto, se estudiarán diversas herramientas de teoría de juegos cooperativos, con objeto de clasificar jugadores, imponer restricciones en los mismos, proponer vías de cálculo más eficientes, realizar particionado de sistemas, etc., examinando las características más relevantes presentadas por cada herramienta.Este estudio ha sido parcialmente financiado por los proyectos de investigación OCONTSOLAR, (H2020 ADG-ERC, ID 789051), C3PO (MINECO, DPI2017-86918-R), y GESVIP (Junta de Andalucía, US-1265917). Asimismo, se agradece a Jose María Maestre, Encarnación Algaba y Eduardo F. Camacho las innumerables discusiones mantenidas a lo largo de los anos de doctorado que me ayudaron a dominar los conceptos presentados en este tutorial. Es también de destacar los comentarios del Editor y los revisores anónimos que han contribuido a la mejora sustancial del manuscrito. Finalmente, se dedica este artículo a Lloyd S. Shapley (1923-2016), ya que su concepto de solución (Shapley, 1953b) ha inspirado todo mi trabajo.Muros, FJ. (2021). El control coalicional en el marco de la teoría de juegos cooperativos. Revista Iberoamericana de Automática e Informática industrial. 18(2):97-112. https://doi.org/10.4995/riai.2020.13456OJS97112182Alamo, T., Normey-Rico, J. E., Arahal, M. R., Limon, D., Camacho, E. F., June 2006. Introducing linear matrix inequalities in a control course. In: Proceedings of the 7th IFAC Symposium on Advances in Control Education (ACE 2006). Madrid, Spain, pp. 205-210. https://doi.org/10.3182/20060621-3-ES-2905.00037Algaba, E., Fragnelli, V., Sánchez-Soriano, J. (Eds.), December 2019. The Handbook of the Shapley Value. CRC Press Series in Operations Research. Chapman & Hall/CRC, Boca Ratón, Florida, USA. https://doi.org/10.1201/9781351241410Aranda-Escolástico, E., Guinaldo, M., Heradio, R., Chacon, J., Vargas, H., Sánchez, J., Dormido, S., March 2020. 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“Comparación de la sexualidad y la impulsividad en personas con diferentes niveles de trauma craneoencefálico evaluadas en Bogotá, Ibagué y Medellín”
No full textLa presente investigación de tipo descriptivo comparativo tuvo como objetivo comparar la sexualidad y la impulsividad de hombres y mujeres, con diagnóstico de trauma craneoencefálico (TCE) leve, moderado y severo evaluados en Bogotá, Ibagué y Medellín. La muestra fue de 126 personas, entre 18 y 52 años de edad, quienes fueron evaluadas mediante un cuestionario de sexualidad y una batería neuropsicológica integrada por la Escala de conducta impulsiva UPPS-P, el Stroop Color and Word Test y la tarea Go No-Go de flechas. Los resultados muestran impulsividad y una tendencia a presentarse cambios en la sexualidad en personas con TCE indistintamente al grado de severidad, de igual modo, la impulsividad no presenta una diferencia estadísticamente significativa lo que indica que el grado de severidad del trauma no altera el aumento o disminución de la mismaThe present comparative descriptive research aimed at comparing the sexuality and impulsivity of men and women, with a diagnosis of mild, moderate and severe traumatic brain injury (TBI) evaluated in Bogotá, Ibague and Medellín. The sample consisted of 126 people, aged between 18 and 52 years, who were evaluated through a questionnaire of sexuality and a neuropsychological battery integrated by the Impulsive Behavior Scale UPPS-P, Stroop Color and Word Test and the Go No- Go for arrows. The results show impulsivity and a tendency to present changes in sexuality in people with TBI indistinctly to the degree of severity; likewise, the impulsivity does not present a statistically significant difference which indicates that the degree of severity of the trauma does not alter the increase or decrease thereof.MaestríaMagíster en Neuropsicología Clínic
La Constitucionalidad de la Protesta Social como Medio de Control Político
No full textLa presente investigación aborda, en primer lugar, la constitucionalidad de la protesta social, derecho fundamental amparado por la normatividad, instancias e instrumentos internacionales de derechos humanos, al igual que por las constituciones nacionales. En segundo lugar, y dada su positivización como derecho fundamental, la protesta social se erige no solo como un medio de control político autónomo, sino que, además, constituye un control subsidiario del control político interórganico. En virtud de este carácter, la protesta social cumple un rol esencial en el reconocimiento, promoción y defensa de los derechos humanos y la democracia, es decir que contribuye significativamente a la construcción y evolución de las dimensiones Estado, democracia y derechos humanos, actuando como medio de control político y social. En definitiva, como un agente de cambio político, social y cultural.Universidad Libre Facultad de Derech
