Average Consensus Control in a Multi-agent System with Communication Restriction

カテゴリ: 部門大会

論文No: SS1-7

グループ名: 【C】平成29年電気学会電子・情報・システム部門大会講演論文集

発行日: 2017/09/06

タイトル(英語): Average Consensus Control in a Multi-agent System with Communication Restriction

著者名: 木村 裕紀(東海大学),奥山 淳(東海大学)

著者名(英語): Hiroki Kimura|Atsushi Okuyama

キーワード: マルチエージェントシステム|平均合意制御|通信制限通信制限|multi-agent system|average consensus control|communication restriction

要約(日本語): A multi-agent system (MAS) comprises several autonomous agents and expresses global functions based on local interactions. In recent years, approaches examining network structures based on graph theory have gained attention in MAS control theory. This study deals with the average consensus problem wherein the consensus value is the average of the initial values of each agent, using small robots with omni-wheel as agents. Notably, it studies the average consensus problem under realistic conditions and limitations with respect to communication range and number of communication units. Using simulation, the study determines the number of communication units required for achieving average consensus when applying graph theory-based control theory.

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