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State estimation in multi-agent decision and control systems

Citation

Del Vecchio, Domitilla (2005) State estimation in multi-agent decision and control systems. Dissertation (Ph.D.), California Institute of Technology. http://resolver.caltech.edu/CaltechETD:etd-05272005-113928

Abstract

This thesis addresses the problem of estimating the state in multi-agent decision and control systems. In particular, a novel approach to state estimation is developed that uses partial order theory in order to overcome some of the severe computational complexity issues arising in multi-agent systems. Within this approach, state estimation algorithms are developed that enjoy provable convergence properties and are scalable with the number of agents. The dynamic evolution of the systems under study are characterized by the interplay of continuous and discrete variables. Continuous variables usually represent physical quantities such as position, velocity, voltage, and current, while the discrete variables usually represent quantities internal to the decision protocol that are used for coordination, communication, and control. Within the proposed state estimation approach, the estimation of continuous and discrete variables is developed in the same mathematical framework as a joint continuous-discrete space is considered for the estimator. This way, the dichotomy between the continuous and discrete world is overcome for the purpose of state estimation. Application examples are considered, which include the state estimation in competitive multi-robot systems and in multi-agent discrete event systems, and the monitoring of distributed environments.

Item Type:Thesis (Dissertation (Ph.D.))
Subject Keywords:hybrid systems; multi-agent systems; partial order; state estimation
Degree Grantor:California Institute of Technology
Division:Engineering and Applied Science
Major Option:Control and Dynamical Systems
Thesis Availability:Public (worldwide access)
Research Advisor(s):
  • Murray, Richard M. (advisor)
  • Perona, Pietro (co-advisor)
Thesis Committee:
  • Murray, Richard M. (chair)
  • Klavins, Eric
  • Marsden, Jerrold E.
  • Doyle, John Comstock
  • Perona, Pietro
Defense Date:29 March 2005
Author Email:ddomitilla (AT) cds.caltech.edu
Record Number:CaltechETD:etd-05272005-113928
Persistent URL:http://resolver.caltech.edu/CaltechETD:etd-05272005-113928
Default Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:2147
Collection:CaltechTHESIS
Deposited By: Imported from ETD-db
Deposited On:27 May 2005
Last Modified:26 Dec 2012 02:47

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