Stable task load balancing strategies for cooperative control of networked autonomous air vehicles

Jorge Finke; Kevin M. Passino; Andrew G. Sparks

doi:10.1109/TCST.2006.876902

Stable task load balancing strategies for cooperative control of networked autonomous air vehicles

Jorge Finke
, Kevin M. Passino
, Andrew G. Sparks

Ohio State University
AFRL/VACA

Research output: Contribution to journal › Article › peer-review

52 Scopus citations

Abstract

We introduce a mathematical model for the study of cooperative control problems for multiple autonomous air vehicles (AAVs) connected via a communication network. We propose a cooperative control strategy based on task-load balancing that seeks to ensure that no vehicle is underutilized and we show how to characterize task-load balancing as a stability property. Then, using Lyapunov stability analysis, we provide conditions under which task-load balancing is achieved even in the presence of communication delays. Finally, we investigate performance properties of the cooperative controller using Monte Carlo simulations. This shows the benefits of cooperation and the effects of network delays and communication topology on performance.

Original language	English
Pages (from-to)	789-803
Number of pages	15
Journal	IEEE Transactions on Control Systems Technology
Volume	14
Issue number	5
DOIs	https://doi.org/10.1109/TCST.2006.876902
State	Published - Sep 2006
Externally published	Yes

Keywords

Cooperative systems
Distributed control
Distributed decision making
Load balancing
Mobile robots

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10.1109/TCST.2006.876902

Cite this

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title = "Stable task load balancing strategies for cooperative control of networked autonomous air vehicles",

abstract = "We introduce a mathematical model for the study of cooperative control problems for multiple autonomous air vehicles (AAVs) connected via a communication network. We propose a cooperative control strategy based on task-load balancing that seeks to ensure that no vehicle is underutilized and we show how to characterize task-load balancing as a stability property. Then, using Lyapunov stability analysis, we provide conditions under which task-load balancing is achieved even in the presence of communication delays. Finally, we investigate performance properties of the cooperative controller using Monte Carlo simulations. This shows the benefits of cooperation and the effects of network delays and communication topology on performance.",

keywords = "Cooperative systems, Distributed control, Distributed decision making, Load balancing, Mobile robots",

author = "Jorge Finke and Passino, \{Kevin M.\} and Sparks, \{Andrew G.\}",

note = "Funding Information: Manuscript received March 3, 2004; revised May 18, 2005. Manuscript received in final form March 22, 2006. Recommended by Associate Editor D. A. Schoenwald. This work was supported by the Air Force Research Library/Air Vehicles Directorate (AFRL/VA) and the Air Force Office of Scientific Research (AFOSR) Collaborative Center of Control Science under Grant F33615-01-2-3154.",

year = "2006",

month = sep,

doi = "10.1109/TCST.2006.876902",

language = "English",

volume = "14",

pages = "789--803",

journal = "IEEE Transactions on Control Systems Technology",

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publisher = "Institute of Electrical and Electronics Engineers Inc.",

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AU - Passino, Kevin M.

AU - Sparks, Andrew G.

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PY - 2006/9

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N2 - We introduce a mathematical model for the study of cooperative control problems for multiple autonomous air vehicles (AAVs) connected via a communication network. We propose a cooperative control strategy based on task-load balancing that seeks to ensure that no vehicle is underutilized and we show how to characterize task-load balancing as a stability property. Then, using Lyapunov stability analysis, we provide conditions under which task-load balancing is achieved even in the presence of communication delays. Finally, we investigate performance properties of the cooperative controller using Monte Carlo simulations. This shows the benefits of cooperation and the effects of network delays and communication topology on performance.

AB - We introduce a mathematical model for the study of cooperative control problems for multiple autonomous air vehicles (AAVs) connected via a communication network. We propose a cooperative control strategy based on task-load balancing that seeks to ensure that no vehicle is underutilized and we show how to characterize task-load balancing as a stability property. Then, using Lyapunov stability analysis, we provide conditions under which task-load balancing is achieved even in the presence of communication delays. Finally, we investigate performance properties of the cooperative controller using Monte Carlo simulations. This shows the benefits of cooperation and the effects of network delays and communication topology on performance.

KW - Cooperative systems

KW - Distributed control

KW - Distributed decision making

KW - Load balancing

KW - Mobile robots

UR - https://www.scopus.com/pages/publications/33747615238

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DO - 10.1109/TCST.2006.876902

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EP - 803

JO - IEEE Transactions on Control Systems Technology

JF - IEEE Transactions on Control Systems Technology

IS - 5

ER -

Stable task load balancing strategies for cooperative control of networked autonomous air vehicles

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Keywords

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