Show simple item record

dc.contributor.authorBresch-Pietri, Delphine
dc.contributor.authorDel Vecchio, Domitilla
dc.date.accessioned2017-12-22T20:01:04Z
dc.date.available2017-12-22T20:01:04Z
dc.date.issued2015-11
dc.date.submitted2015-03
dc.identifier.issn0005-1098
dc.identifier.urihttp://hdl.handle.net/1721.1/112941
dc.description.abstractThis 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 controlen_US
dc.publisherElsevier BVen_US
dc.relation.isversionofhttp://dx.doi.org/10.1016/J.AUTOMATICA.2015.06.009en_US
dc.rightsCreative Commons Attribution-NonCommercial-NoDerivs Licenseen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/en_US
dc.sourceMIT Web Domainen_US
dc.titleEstimation for decentralized safety control under communication delay and measurement uncertaintyen_US
dc.typeArticleen_US
dc.identifier.citationBresch-Pietri, Delphine, and Domitilla Del Vecchio. “Estimation for Decentralized Safety Control Under Communication Delay and Measurement Uncertainty.” Automatica 62 (December 2015): 292–303.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.mitauthorBresch-Pietri, Delphine
dc.contributor.mitauthorDel Vecchio, Domitilla
dc.relation.journalAutomaticaen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dc.date.updated2017-12-22T14:54:39Z
dspace.orderedauthorsBresch-Pietri, Delphine; Del Vecchio, Domitillaen_US
dspace.embargo.termsNen_US
dc.identifier.orcidhttps://orcid.org/0000-0001-6472-8576
mit.licensePUBLISHER_CCen_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record