Computer Science – Systems and Control
Scientific paper
2011-01-11
Computer Science
Systems and Control
Preprint, Submitted for publication
Scientific paper
One of the key challenges in cooperative control of multi-agent systems is the design of local interaction rules and coordination principles among agents such that the entire system achieves a given desired global behavior. To address this problem, in [1], we proposed necessary and sufficient conditions for decomposability of a task automaton with respect to two local plants. A sufficient condition also was proposed for hierarchical task decomposition with respect to more than two local event sets. As the main contribution, this paper proposes necessary and sufficient conditions for task decomposition with respect to arbitrary finite number of local plants. The fulfillment of local specifications is then shown to guarantee the satisfaction of the global specification. When a local agent can recognize all events of the plant, the decomposition problem is shown to be reduced to a global decision making on the order and selections of transitions. Moreover, for large scale systems whose agents can be partitioned into the clusters with mutual exclusive event sets, it is shown that provided the global decision making on the orders and selections of the events, the decomposition problem, and hence, top-down design is reduced to the decomposition problems in each cluster. This result may pave the way towards a new perspective for decentralized cooperative control of multi-agent systems.
Karimadini Mohammad
Lin Hainan
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