534 research outputs found
Yol Aydınlatma Probleminin Çok Etmenli Ağlarda Dağıtık Çözümü
No full textIn this study, we consider the solution of the road lighting problem by distributed algorithms over multi-agentnetworks where the objective is to determine the powers of the lamps that provide the desired road lighting levelfor a given road profile. The road is modeled as multiple road sections each with a length of 50 meters where alighting pole is located in the middle of each section. Under given assumptions, the illumination levels of the roadsections are expressed as linear functions of the powers of the lamps. When the processing units in the lightingpoles can communicate wirelessly with the neighboring processing units and make simple calculations, it is shownthat the power levels of the lamps that provide the desired lighting level for each road section can be calculated ina distributed manner. Finally, the model and the proposed solution has been verified by a numerical example.Bu çalışmada, verilen bir yol profili için yol aydınlatma düzeyinin istenilen değerlerde olmasını sağlayan lamba_x000D_
güçlerini belirleme probleminin çok etmenli sistemler üzerinde tanımlanan bir algoritma ile dağıtık çözümü ele_x000D_
alınmıştır. Söz konusu yol, ellişer metrelik uzunluğa sahip bölümler halinde modellenmiş ve her bir bölümün_x000D_
ortasında bir aydınlatma direği konumlandırılmıştır. Yapılan varsayımlar altında yol bölümlerinin aydınlanma_x000D_
düzeyleri, lambaların güçlerinin bir doğrusal fonksiyonu olduğu ifade edilmiştir. Aydınlatma direklerinde bulunan_x000D_
işlem birimlerinin kendilerine yakın olan direklerdeki işlem birimleriyle haberleşebildiği ve basit hesaplamalar_x000D_
yapabildiği durumda, yolun istenilen bir aydınlık seviyesine sahip olabilmesi için gerekli olan lamba gücü_x000D_
seviyelerinin, dağıtık olarak hesaplanabildiği gösterilmiş ve sayısal sonuçlar ile modelin ve çözümün geçerliği_x000D_
doğrulanmıştır
Topology design for group consensus in directed multi-agent systems
No full textsummary:In this paper, we investigate the grouping behavior of multi-agent systems by exploiting the graph structure. We propose a novel algorithm for designing a network from scratch which yields the desired grouping in a network of agents utilizing a consensus-based algorithm. The proposed algorithm is shown to be optimal in the sense that it consists of the minimum number of links. Furthermore, we examine the effect of adding new vertices and edges to the network on the number of groups formed in the group consensus problem. These results can be further utilized by the network topology designer to restructure the network and achieve the desired grouping. Theoretical results are illustrated with simulation examples
Rapid Solution of Linear Equations with Distributed Algorithms over Networks
No full textIn this study, we investigate the problem of accelerating distributed algorithms for solving linear equations over multi-agent networks. While almost all distributed algorithms in the literature assume that the equations are not shared with the neighboring agents, it is shown that the assumption is not restrictive, and an algorithm has been proposed which can be used to determine the equations of the neighbors. We also present a numerical example to illustrate that the convergence rate of a distributed algorithm can be significantly improved by using the proposed algorithm. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved
Fastest random walk on a path
No full textIn this paper, we consider two convex optimisation problems in order to maximise the mixing rate of a Markov chain on an undirected path. In the first formulation, the holding probabilities of vertices are identical and the transition probabilities from a vertex to its neighbours are equal, whereas the second formulation is the more general reversible Markov chain with the same degree proportional stationary distribution. We derive analytical results on the solutions of the optimisation problems and compare the spectra of the associated transition probability matrices
Multi-consensus of second-order agents in discrete-time directed networks
No full textThis paper deals with the multi-consensus problem in discrete-time directed networks with second-order agent dynamics. Necessary and sufficient conditions to ensure multi-equilibria consensus are obtained by utilising some concepts related to graph structures. It is shown that while the choice of control parameters directly affects the stability of the consensus problem, the equilibria states do not depend on them. Furthermore, the initial values of the states of the secondary layer subgraphs have no effect on the consensus equilibria of any agent in the network. A systematic method for choosing the control parameters is proposed and it is proved that this choice ensures multi-consensus of the network. Finally, illustrative examples are provided to better highlight the theoretical results
Necessary and Sufficient Conditions for Group Consensus of Agents With Third-Order Dynamics in Directed Networks
No full textIn this paper, we investigate the group consensus problem in directed networks where agents have third-order dynamics. Necessary and sufficient conditions on the controller parameters are obtained to ensure K-equilibria group consensus where K is determined by the structure of the directed graph. It is theoretically shown that, for an arbitrary directed graph, there exist controller parameters that satisfy the given conditions. A systematic method for choosing the controller parameters to guarantee group consensus is suggested and theoretical results are verified by numerical examples
Analysis of distributed consensus protocols with multi-equilibria under time-delays
No full textIn this paper, we propose a novel method for addressing the multi-equilibria consensus problem for a network of n agents with dynamics evolving in discrete-time. In this method, we introduce, for the first time in the literature, two concepts called primary and secondary layer subgraphs. Then, we present our main results on directed graphs such that multiple consensus equilibria states are achieved, thereby extending the existing single-state consensus convergence results in the literature. Furthermore, we propose an algorithm to determine the number of equilibria for any given directed graph automatically by a computer program. We also analyze the convergence properties of multi-equilibria consensus in directed networks with time-delays under the assumption that all delays are bounded. We show that introducing communication time-delays does not affect the number of equilibria of the given network. Finally, we verify our theoretical results via numerical examples. (C) 2017 The Franklin Institute. Published by Elsevier Ltd. All rights reserved
GraParT: A MATLAB Toolbox for partitioning directed graphs
No full textConsensus algorithms are increasingly used in multi-agent systems due to their advantages in various applications.
Recent results on consensus algorithms show that the number of groups formed in a network of agents utilizing
consensus-based algorithms can be computed once its primary and secondary layer subgraphs are determined. In
this study, we present GraParT -Graph Partitioning Toolbox- that can be used to partition directed graphs by
determining its primary and secondary layer subgraphs and the vertices therein. The toolbox helps the user to
build, modify, analyze and illustrate directed graphs in terms of the grouping behavior of the consensus algorithms
with its user-friendly interface. GraParT is an open-source software that is available free of charge for academic
and non-commercial us
Stability analysis and controller design for consensus in discrete‐time networks with heterogeneous agent dynamics
No full textIn this paper, we study the heterogeneous consensus problem in directed networks consisting of first- and second-order agents that can only receive the position states of their neighbors. Necessary and sufficient conditions on the controller parameters are obtained in order to achieve consensus in the network. The mathematical expressions of the consensus equilibria are given for two different scenarios. Furthermore, we propose a systematic method for choosing controller parameters to ensure stability in a network of agents with heterogeneous dynamics. Several numerical examples are also provided to illustrate the theoretical results
Decentralized multi-agent path finding framework and strategies based on automated negotiation
No full textThis paper introduces a negotiation framework to solve the Multi-Agent Path Finding (MAPF) Problem for self-interested agents in a decentralized fashion. The framework aims to achieve a good trade-off between the privacy of the agents and the effectiveness of solutions. Accordingly, a token-based bilateral negotiation protocol and two negotiation strategies are presented. The experimental results over four different settings of the MAPF problem show that the proposed approach could find conflict-free path solutions albeit suboptimally, especially when the search space is large and high-density. In contrast, Explicit Estimation Conflict-Based Search (EECBS) struggles to find optimal solutions. Besides, deploying a sophisticated negotiation strategy that utilizes information about local density for generating alternative paths can yield remarkably better solution performance in this negotiation framework.Interactive Intelligenc
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