Conference Papers-Multi-Agent Coordination

Communications & Networks

Image & Signal Processing

Load Balancing

Microwave Propelled Sail

Randomized Algorithms

Time Delay

Multi-Agent Coordination

Engineering Education

Iterative Learning

Neural Networks

Robust Control

Various

Note: The papers on this website may differ from the published versions, both in format and in content.

1. R. Sandoval-Rodriguez, C.T. Abdallah and P.F. Hokayem, "Internet-like Protocols for the Control and Coordination of Multiple Agents with Time Delay", Accepted, IEEE International Symposium on Intelligent Control, Houston, TX, October 2003.   [pdf]

   Abstract: In this paper we show how Internet-like protocols may be used to coordinate and control the usage of a resource by n agents. Lyapunov second method is used to provide sufficient stability conditions of the dynamics of the n agents in the presence of time delay.




2. R. Sandoval-Rodriguez, C.T. Abdallah, P.F. Hokayem and R.H. Byrne, "Coordination of Multiple Agents in 2D using an Internet-Like Protocol", Submitted, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003.   [pdf]

   Abstract: This work presents an Internet-Like Protocol (ILP) to coordinate the formation of n second-order agents in a two dimensional (2D) space. The trajectories are specified trough via points and a desired formation at each point. Simulink is used to verify the response of the agents in the desired trajectories.




3. R. Sandoval-Rodriguez, C.T. Abdallah, P.F. Hokayem and E. Schamiloglu, "Robust Mobile Robotic Formation Control Using Internet-Like Protocols", Submitted, IEEE Conference on Decision and Control, 2003.   [pdf]

   Abstract: This work presents an Internet-Like Protocol (ILP) to coordinate the formation of n second-order agents in a two dimensional (2D) space. The trajectories are specified trough via points and a desired formation at each point. A basis for the proof of convergence is given using Lyapunov second method. Simulink is used to verify the response of the agents in the desired trajectories. The proposed algorithms are robust in the sense that they can accommodate changes in the formation of the agents and more importantly, changes in the umber of agents as some of them drop of or join the formation.