Abstract
It has been recently shown that the sharing of information (in order to promote cooperation among multiple agents) can actually degrade mission performance, primarily due to a form of cooperative instability. This instability occurs when the high-level cooperation strategy assigns tasks to the agents in a way that hinders the performance of true system objectives; specifically, the over action of the coordination law makes goal completion impossible, and agents exhibit a churning type of motion. This chapter examines this “churning” instability in order to understand its primary causes, and a formal definition of this cooperative instability is proposed. A method of mitigating the negative effects of churning is presented, and these ideas are illustrated in simulation.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
M. Athans, P. Hosein, and J. Walton. Dynamic weapon target assignment problems with vulnerable C3 nodes. In Proceedings of the Command and Control Symposium, Monterey, CA, 1988.
J. Bellingham, A. Richards, and J. P. How. Receding horizon control of autonomous aerial vehicles. In Proceedings of the 2002 American Control Conference, Anchorage, AK, June 2002.
J. Bellingham, M. Tillerson, M. Alighanbari, and J. P. How. Cooperative path planning for multiple UAVs in dynamic and uncertain environments. In Proceedings of the 41st Conference on Decision and Control, pages 2816–2822, Las Vegas, NV, December 2002.
P. R. Chandler, M. Pachter, K. Nygard, and D. Swaroop. Cooperative control for target classification. In R. Murphey and P. M. Pardalos, editors, Cooperative Control and Optimization, pages 1–19. Kluwer Academic Publishers, 2002.
J. A. Fax and R. M. Murray. Information flow and cooperative control of vehicle formations. In 2002 IFAC World Congress, 2002.
C. E. Garcia and M. Moran. Model predictive control: theory and practice — a survey. Automatica, 25 (3): 335–348, 1989.
A. Jadbabaie, J. Primbs, and J. Hauser. Unconstrained receding horizon control with no terminal cost. In Proceedings of the American Control Conference, Arlington, VA, June 2001.
W. H. Kwon, A. N. Bruckstein, and T. Kailath. Stabilization state-feedback design via the moving horizon method. Int. J. Contr., 37, 1983.
D. Q. Mayne and H. Michalska. Receding horizon control of nonlinear systems. IEEE Transactions on Automatic Control, 35: 814–824, 1990.
H. Michalska and D. Q. Mayne. Receding horizon control of nonlinear systems without differentiability of the optimal value function. Systems Control Lett., 16: 123–130, 1991.
R. A. Murphey. An approximate algorithm for a weapon target assignment stochastic program. In P. M. Pardalos, editor, Approximation and Complexity in Numerical Optimization: Continuous and Discrete Problems, pages 406–421. Kluwer Academic Publishers, 1999.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2004 Kluwer Academic Publishers
About this chapter
Cite this chapter
Curtis, J.W. (2004). Churning: Repeated Optimization and Cooperative Instability. In: Butenko, S., Murphey, R., Pardalos, P.M. (eds) Recent Developments in Cooperative Control and Optimization. Cooperative Systems, vol 3. Springer, Boston, MA. https://doi.org/10.1007/978-1-4613-0219-3_6
Download citation
DOI: https://doi.org/10.1007/978-1-4613-0219-3_6
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4613-7947-8
Online ISBN: 978-1-4613-0219-3
eBook Packages: Springer Book Archive