A behavior-based collaborative multi-agent system

Xi Wang, Asok Ray, Peter Lee, Shashi Phoha

Research output: Contribution to journalConference articlepeer-review

3 Scopus citations

Abstract

This paper presents a system architecture for behavior-based collaborative multi-agent systems in the discrete event setting following the Ramadge and Wonham framework. It addresses the issues of robustness to component failures, reliability of wireless communications, scalability to increase in the number of agents, and quantitative analysis of system performance at different levels of control hierarchy. The mission objectives are achieved by hierarchically structured supervisory control. The standard supervisory control theory is extended in the sense that the event alphabet is made a function of the plant parameters. The supervisory control system allows interactions with external agents including human operators. A proof-of-the-concept control architecture is experimentally validated by a wireless mobile robotic system consisting of three Pioneer 2 AT mobile robots. This concept could be extended to other distributed systems provided that the continuous-varying dynamics of the underlying physical process is decoupled with the discrete state space of the supervisory control system.

Original languageEnglish (US)
Pages (from-to)4242-4248
Number of pages7
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume5
StatePublished - Nov 24 2003
EventSystem Security and Assurance - Washington, DC, United States
Duration: Oct 5 2003Oct 8 2003

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Hardware and Architecture

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