Coordination of Multi-agent Systems with Intermittent Access to a Cloud Repository
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.
This work has received funding from the European Union Horizon 2020 Research and Innovation Programme under the Grant Agreement No. 644128, AEROWORKS, from the Swedish Foundation for Strategic Research, from the Swedish Research Council, and from the Knut och Alice Wallenberg foundation.
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