Estimation for decentralized safety control under communication delay and measurement uncertainty
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Del Vecchio_Estimation for.pdf
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Author(s)
Bresch-Pietri, Delphine
Del Vecchio, Domitilla
Date Issued
November 2015
Journal
Automatica
Publisher
Elsevier BV
Citation
Bresch-Pietri, Delphine, and Domitilla Del Vecchio. “Estimation for Decentralized Safety Control Under Communication Delay and Measurement Uncertainty.” Automatica 62 (December 2015): 292–303.
Version
Author's final manuscript
Abstract
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
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-NonCommercial-NoDerivs License
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DOI of Published Version
https://doi.org/10.1016/J.AUTOMATICA.2015.06.009
