Name
Title | ||
|---|---|---|
Chance constrained model predictive control for multi-agent systems with coupling constraints |
Abstract | ||
|---|---|---|
We consider stochastic model predictive control of a multi-agent systems with constraints on the probabilities of inter-agent collisions. First, we discuss a method based on sample average approximation of the collision probabilities to make the stochastic control problem computationally tractable. Empirical results indicate that the complexity of the resulting optimization problem can be too high to be solved under realtime requirements. To reduce the computational burden we propose a second approach. It employs probabilistic bounds to determine regions of increased probability of presence for each agent and introduce constraints for the control problem prohibiting overlap of these regions. We prove that the resulting problem is conservative for the original problem, i.e., every control strategy that is feasible under our new constraints will automatically be feasible for the true original problem. Furthermore, we present simulations demonstrating improved run-time performance of our second approach and compare our stochastic method to robust control. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/ACC.2012.6315153 | American Control Conference |
Keywords | Field | DocType |
multi-agent systems,optimisation,predictive control,probability,robust control,stochastic systems,chance constrained model predictive control,collision probabilities,control strategy,coupling constraints,interagent collisions,multiagent systems,optimization problem,probabilistic bounds,real-time requirements,robust control,stochastic control problem,stochastic model predictive control | Mathematical optimization,Computer science,Control theory,Model predictive control,Stochastic process,Multi-agent system,Control engineering,Collision,Probabilistic logic,Robust control,Optimization problem,Stochastic control | Conference |
ISSN | ISBN | Citations |
0743-1619 E-ISBN : 978-1-4673-2102-0 | 978-1-4673-2102-0 | 8 |
PageRank | References | Authors |
0.54 | 6 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Daniel Lyons | 1 | 11 | 1.63 |
| Jan-P. Calliess | 2 | 8 | 0.54 |
| Uwe D. Hanebeck | 3 | 599 | 71.02 |