Estimation for decentralized safety control under communication delay and measurement uncertainty
This paper addresses the design of a decentralized safety controller for two agents, subject to communication delay and imperfect measurements. The control objective is to ensure safety, meaning that the state of the two-agent system does not enter an undesired set in the state space. Assuming that...
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| Format: | Article |
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Elsevier BV
2017
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| Online Access: | http://hdl.handle.net/1721.1/112941 https://orcid.org/0000-0001-6472-8576 |
| _version_ | 1826194875797733376 |
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| author | Bresch-Pietri, Delphine Del Vecchio, Domitilla |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Bresch-Pietri, Delphine Del Vecchio, Domitilla |
| author_sort | Bresch-Pietri, Delphine |
| collection | MIT |
| description | This paper addresses the design of a decentralized safety controller for two agents, subject to communication delay and imperfect measurements. The control objective is to ensure safety, meaning that the state of the two-agent system does not enter an undesired set in the state space. Assuming that we know a feedback map designed for the delay free-case, we propose a state estimation strategy which guarantees control agreement between the two agents. We present an estimation technique for bounded communication delays, assuming that the agents share the same internal clock, and extend it for infinitely-distributed communication delays by determining a lower bound for the probability of safety. We also explain how the proposed approach can be extended to a general system of N agents and discuss efficient computation of our estimation strategy. Performance of the controller and relevance of the proposed approach are discussed in light of simulations performed for a collision avoidance problem between two semi-autonomous vehicles at an intersection. Keywords: Multi-agent systems; Communication delay; Estimation/prediction approaches; Safety control |
| first_indexed | 2024-09-23T10:03:13Z |
| format | Article |
| id | mit-1721.1/112941 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T10:03:13Z |
| publishDate | 2017 |
| publisher | Elsevier BV |
| record_format | dspace |
| spelling | mit-1721.1/1129412022-09-26T15:25:50Z Estimation for decentralized safety control under communication delay and measurement uncertainty Bresch-Pietri, Delphine Del Vecchio, Domitilla Massachusetts Institute of Technology. Department of Mechanical Engineering Bresch-Pietri, Delphine Del Vecchio, Domitilla This paper addresses the design of a decentralized safety controller for two agents, subject to communication delay and imperfect measurements. The control objective is to ensure safety, meaning that the state of the two-agent system does not enter an undesired set in the state space. Assuming that we know a feedback map designed for the delay free-case, we propose a state estimation strategy which guarantees control agreement between the two agents. We present an estimation technique for bounded communication delays, assuming that the agents share the same internal clock, and extend it for infinitely-distributed communication delays by determining a lower bound for the probability of safety. We also explain how the proposed approach can be extended to a general system of N agents and discuss efficient computation of our estimation strategy. Performance of the controller and relevance of the proposed approach are discussed in light of simulations performed for a collision avoidance problem between two semi-autonomous vehicles at an intersection. Keywords: Multi-agent systems; Communication delay; Estimation/prediction approaches; Safety control 2017-12-22T20:01:04Z 2017-12-22T20:01:04Z 2015-11 2015-03 2017-12-22T14:54:39Z Article http://purl.org/eprint/type/ConferencePaper 0005-1098 http://hdl.handle.net/1721.1/112941 Bresch-Pietri, Delphine, and Domitilla Del Vecchio. “Estimation for Decentralized Safety Control Under Communication Delay and Measurement Uncertainty.” Automatica 62 (December 2015): 292–303. https://orcid.org/0000-0001-6472-8576 http://dx.doi.org/10.1016/J.AUTOMATICA.2015.06.009 Automatica Creative Commons Attribution-NonCommercial-NoDerivs License http://creativecommons.org/licenses/by-nc-nd/4.0/ application/pdf Elsevier BV MIT Web Domain |
| spellingShingle | Bresch-Pietri, Delphine Del Vecchio, Domitilla Estimation for decentralized safety control under communication delay and measurement uncertainty |
| title | Estimation for decentralized safety control under communication delay and measurement uncertainty |
| title_full | Estimation for decentralized safety control under communication delay and measurement uncertainty |
| title_fullStr | Estimation for decentralized safety control under communication delay and measurement uncertainty |
| title_full_unstemmed | Estimation for decentralized safety control under communication delay and measurement uncertainty |
| title_short | Estimation for decentralized safety control under communication delay and measurement uncertainty |
| title_sort | estimation for decentralized safety control under communication delay and measurement uncertainty |
| url | http://hdl.handle.net/1721.1/112941 https://orcid.org/0000-0001-6472-8576 |
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