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    SPP 1914: Cyber-Physical Networking: Cooperative and Topology Control for Tightly Coupled Large-Scale Wireless Networked Autonomous Agents
    In this project we consider cooperative control of mobile agents that interact over a wireless network. The network is set up by the nodes, i.e. no external communication infrastructure is assumed. The project goal is to develop analysis and synthesis tools that allow joint design of distributed cooperative control and communication strategies for large homogeneous groups of mobile agents which interact via a wireless network. The overall control performance expressed in terms of a suitably defined l2 performance channel depends on the local dynamic control of individual agents as well as on flow of information between agents. It is restricted by imperfections of the communication network, in particular by packet loss and time delay, as well as possibly quantization effects resulting from low bit rates. The goal is to derive conditions on the stability and the performance of multi-agent systems that depend on the decision variables of the design. These variables are the control gains, the communication network parameters and the network topology. The project will continue with our study of time-triggered distributed control of wireless networked agents. We develop tools for trading network demands against control demands in an architecture which facilitates the decoupling of stochastic aspects of wireless networks and deterministic control of agent dynamics. We study with distributed consensus and flocking two core building blocks for control of multi-agent systems. In addition to concepts well understood for time-triggered control, we will explore the potential of event-triggered control as well as event-triggered model predictive control for more efficient use of channel capacity. Our theoretical results will be substantiated by simulation studies and practical experiments with AUVs and UAVs.
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    SPP 1914: Cyber-Physical Networking: Analysis and synthesis of combined cooperative control and topology control over wireless network models
    In this project we consider cooperative control of mobile agents or nodes that interact over a wireless network. The network is set up by the nodes, i.e. no external communication infrastructure is assumed. Cooperative control of multi-agent systems, as well as topology control in communication networks, have been studied extensively, but separately. Research on cooperative control of multi-agent systems usually assumes the interaction topology to be given (possibly uncertain). Research on topology control usually aims at improving the network in the sense of communication properties. However, as the interaction topology in a network of mobile agents has a considerable effect on the achievable cooperative control performance, a control scheme that combines dynamic control of the agents motion with adapting the interaction structure to the time-varying conditions of the communication network is expected to significantly improve the achievable performance. To the best of the applicants knowledge, to date such a combined control scheme has not been reported in the literature. The objectives of the proposed research project can be summarised as follows:1. Local topology control will maintain the highest level of algebraic connectivity (aiming at high performance and robustness) while taking into account SINR constraints. This will be achieved by control of the wireless network graph and the interaction graph. Methods of investigation are graph spanners, backbones, and node relocation.2. A distributed cooperative control scheme will be developed for LPV agent models and gain-scheduled local feedback controllers; this will allow to consider mobile robots and vehicles subject to nonholonomic constraints. Analysis and synthesis conditions will be derived that guarantee stability and performance in the sense of the L2 -norm, with a complexity independent of the number of agents while taking constraints on communication resources into account.3. Local information about network properties will be gathered and used for topology control as well as for cooperative control to adapt interconnection weights. Our focus is on distributed and local solutions with the goal to support any system scale.4. Proof of concept will be given by simulation studies based on source-seeking scenarios, which will be selected to highlight the various features of the proposed integrated collaborative control and topology control scheme.
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