Abstract

In this talk we present a multi-agent coordination problem where  agents communicate only by exchanging information in a cloud repository. The communication with the cloud is considered a shared and limited resource, and therefore it is used intermittently and asynchronously by the agents. The motivating application is the coordination of a fleet of underwater autonomous vehicles. The proposed approach takes advantage of having a shared asynchronous cloud support while guaranteeing a reduced number of communication. More in detail, each agent schedules its own sequence of cloud accesses in order to achieve a coordinated network goal. A control law is given with a criterion for scheduling the control updates recursively. The closed loop scheme is formally proven to achieve the desired coordination objective.

Short bio

Antonio Adaldo is a PhD student in the Automatic Control Department at the School of Electrical Engineering in KTH, under the supervision of Karl H. Johansson and Dimos V. Dimarogonas. He obtained the BSc and MSc degrees in Automation Engineering from the University of Naples Federico II. His research interests include hybrid and event-based control of multi-agent systems.