A cloud-supported multi-agent system is composed of autonomous agents required to achieve a common coordination objective by exchanging data over a shared cloud repository. The repository is accessed asychronously by different agents, and direct inter-agent commuication is not possible. This model is motivated by the problem of coordinating a fleet of autonomous underwater vehicles, with the aim to avoid the use of expensive and power-hungry modems for underwater communication. For the case of agents with integrator dynamics, a control law and a rule for scheduling the cloud access are formally defined and proven to achieve the desired coordination. A numerical simulation corroborate the theoretical results.
CITATION STYLE
Adaldo, A., Liuzza, D., Dimarogonas, D. V., & Johansson, K. H. (2017). Coordination of multi-agent systems with intermittent access to a cloud repository. In Lecture Notes in Control and Information Sciences (Vol. 474, pp. 453–471). Springer Verlag. https://doi.org/10.1007/978-3-319-55372-6_21
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