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Description
Coordination and control of Intelligent Agents as a team is considered in this thesis.
Intelligent agents learn from experiences, and in times of uncertainty use the knowl-
edge acquired to make decisions and accomplish their individual or team objectives.
Agent objectives are defined using cost functions designed uniquely for the collective
task being performed. Individual agent costs are coupled in such a way that group ob-
jective is attained while minimizing individual costs. Information Asymmetry refers
to situations where interacting agents have no knowledge or partial knowledge of cost
functions of other agents. By virtue of their intelligence, i.e., by learning from past
experiences agents learn cost functions of other agents, predict their responses and
act adaptively to accomplish the team’s goal.
Algorithms that agents use for learning others’ cost functions are called Learn-
ing Algorithms, and algorithms agents use for computing actuation (control) which
drives them towards their goal and minimize their cost functions are called Control
Algorithms. Typically knowledge acquired using learning algorithms is used in con-
trol algorithms for computing control signals. Learning and control algorithms are
designed in such a way that the multi-agent system as a whole remains stable during
learning and later at an equilibrium. An equilibrium is defined as the event/point
where cost functions of all agents are optimized simultaneously. Cost functions are
designed so that the equilibrium coincides with the goal state multi-agent system as
a whole is trying to reach.
In collective load transport, two or more agents (robots) carry a load from point
A to point B in space. Robots could have different control preferences, for example,
different actuation abilities, however, are still required to coordinate and perform
load transport. Control preferences for each robot are characterized using a scalar
parameter θ i unique to the robot being considered and unknown to other robots.
With the aid of state and control input observations, agents learn control preferences
of other agents, optimize individual costs and drive the multi-agent system to a goal
state.
Two learning and Control algorithms are presented. In the first algorithm(LCA-
1), an existing work, each agent optimizes a cost function similar to 1-step receding
horizon optimal control problem for control. LCA-1 uses recursive least squares as
the learning algorithm and guarantees complete learning in two time steps. LCA-1 is
experimentally verified as part of this thesis.
A novel learning and control algorithm (LCA-2) is proposed and verified in sim-
ulations and on hardware. In LCA-2, each agent solves an infinite horizon linear
quadratic regulator (LQR) problem for computing control. LCA-2 uses a learning al-
gorithm similar to line search methods, and guarantees learning convergence to true
values asymptotically.
Simulations and hardware implementation show that the LCA-2 is stable for a
variety of systems. Load transport is demonstrated using both the algorithms. Ex-
periments running algorithm LCA-2 are able to resist disturbances and balance the
assumed load better compared to LCA-1.
Intelligent agents learn from experiences, and in times of uncertainty use the knowl-
edge acquired to make decisions and accomplish their individual or team objectives.
Agent objectives are defined using cost functions designed uniquely for the collective
task being performed. Individual agent costs are coupled in such a way that group ob-
jective is attained while minimizing individual costs. Information Asymmetry refers
to situations where interacting agents have no knowledge or partial knowledge of cost
functions of other agents. By virtue of their intelligence, i.e., by learning from past
experiences agents learn cost functions of other agents, predict their responses and
act adaptively to accomplish the team’s goal.
Algorithms that agents use for learning others’ cost functions are called Learn-
ing Algorithms, and algorithms agents use for computing actuation (control) which
drives them towards their goal and minimize their cost functions are called Control
Algorithms. Typically knowledge acquired using learning algorithms is used in con-
trol algorithms for computing control signals. Learning and control algorithms are
designed in such a way that the multi-agent system as a whole remains stable during
learning and later at an equilibrium. An equilibrium is defined as the event/point
where cost functions of all agents are optimized simultaneously. Cost functions are
designed so that the equilibrium coincides with the goal state multi-agent system as
a whole is trying to reach.
In collective load transport, two or more agents (robots) carry a load from point
A to point B in space. Robots could have different control preferences, for example,
different actuation abilities, however, are still required to coordinate and perform
load transport. Control preferences for each robot are characterized using a scalar
parameter θ i unique to the robot being considered and unknown to other robots.
With the aid of state and control input observations, agents learn control preferences
of other agents, optimize individual costs and drive the multi-agent system to a goal
state.
Two learning and Control algorithms are presented. In the first algorithm(LCA-
1), an existing work, each agent optimizes a cost function similar to 1-step receding
horizon optimal control problem for control. LCA-1 uses recursive least squares as
the learning algorithm and guarantees complete learning in two time steps. LCA-1 is
experimentally verified as part of this thesis.
A novel learning and control algorithm (LCA-2) is proposed and verified in sim-
ulations and on hardware. In LCA-2, each agent solves an infinite horizon linear
quadratic regulator (LQR) problem for computing control. LCA-2 uses a learning al-
gorithm similar to line search methods, and guarantees learning convergence to true
values asymptotically.
Simulations and hardware implementation show that the LCA-2 is stable for a
variety of systems. Load transport is demonstrated using both the algorithms. Ex-
periments running algorithm LCA-2 are able to resist disturbances and balance the
assumed load better compared to LCA-1.
ContributorsKAMBAM, KARTHIK (Author) / Zhang, Wenlong (Thesis advisor) / Nedich, Angelia (Thesis advisor) / Ren, Yi (Committee member) / Arizona State University (Publisher)
Created2018
Description
A semi-implicit, fourth-order time-filtered leapfrog numerical scheme is investigated for accuracy and stability, and applied to several test cases, including one-dimensional advection and diffusion, the anelastic equations to simulate the Kelvin-Helmholtz instability, and the global shallow water spectral model to simulate the nonlinear evolution of twin tropical cyclones. The leapfrog scheme leads to computational modes in the solutions to highly nonlinear systems, and time-filters are often used to damp these modes. The proposed filter damps the computational modes without appreciably degrading the physical mode. Its performance in these metrics is superior to the second-order time-filtered leapfrog scheme developed by Robert and Asselin.
ContributorsBurke, Lee Matthew Moore (Author) / Moustaoui, Mohamed (Thesis director) / Kostelich, Eric (Committee member) / School of Mathematical and Statistical Sciences (Contributor) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-05
ContributorsEvans, Bartlett R. (Conductor) / Schildkret, David (Conductor) / Glenn, Erica (Conductor) / Concert Choir (Performer) / Chamber Singers (Performer) / ASU Library. Music Library (Publisher)
Created2018-03-16
Description
This paper is an exploration of numerical optimization as it applies to the consumer choice problem. Suggested algorithms are intended to compute solutions to the Marshallian problem, and some can extend to the dual given the suggested modifications. Each method seeks to either weaken the sufficient conditions for optimization, converge to a solution more efficiently, or describe additional properties of the decision space. The purpose of this paper is to explore constrained quasiconvex programming in a less complicated environment by design of Marshallian constraints.
ContributorsKnipp, Charles (Author) / Reffett, Kevin (Thesis director) / Leiva-Bertran, Fernando (Committee member) / Department of Economics (Contributor) / School of Mathematical and Statistical Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2021-05
ContributorsOwen, Ken (Conductor) / McDevitt, Mandy L. M. (Performer) / Larson, Brook (Conductor) / Wang, Lin-Yu (Performer) / Jacobs, Todd (Performer) / Morehouse, Daniel (Performer) / Magers, Kristen (Performer) / DeGrow, Gary (Performer) / DeGrow, Richard (Performer) / Women's Chorus (Performer) / Sun Devil Singers (Performer) / ASU Library. Music Library (Publisher)
Created2004-03-24
ContributorsMetz, John (Performer) / Sowers, Richard (Performer) / Collegium Musicum (Performer) / ASU Library. Music Library (Publisher)
Created1983-01-29
ContributorsEvans, Bartlett R. (Conductor) / Glenn, Erica (Conductor) / Steiner, Kieran (Conductor) / Thompson, Jason D. (Conductor) / Arizona Statesmen (Performer) / Women's Chorus (Performer) / Concert Choir (Performer) / Gospel Choir (Conductor) / ASU Library. Music Library (Publisher)
Created2019-03-15
ContributorsKillian, George W. (Performer) / Killian, Joni (Performer) / Vocal Jazz Ensemble (Performer) / ASU Library. Music Library (Publisher)
Created1992-11-05
ContributorsButler, Robb (Conductor) / McCreary, Kimilee (Conductor) / Bakko, Nicki L. (Conductor) / Schreuder, Joel (Conductor) / Larson, Matthew (Performer) / Ortman, Mory (Performer) / Graduate Chorale I (Performer) / Graduate Chorale II (Performer) / ASU Library. Music Library (Publisher)
Created1999-12-02
ContributorsGarrett, Jennifer (Conductor) / FitzPatrick, Carole (Performer) / Aspnes, Lynne (Performer) / Campbell, Andrew (Pianist) (Performer) / Ryan, Russell (Performer) / Rockmaker, Jody (Performer) / Kocour, Mike (Performer) / McLin, Katherine (Performer) / Larson, Brook Carter (Conductor) / Women's Chorus (Performer) / Men's Chorus (Performer) / ASU Library. Music Library (Publisher)
Created2009-05-04