Multi-Agent System Based Cooperative Control for Speed Convergence of Virtually Coupled Train Formation.

This paper investigates the problem of spacing control between adjacent trains in train formation and proposes a distributed train-formation speed-convergence cooperative-control algorithm based on barrier Lyapunov function. Considering practical limitations such as communication distance and bandwidth constraints during operation, not all trains can directly communicate with the leader and obtain the expected trajectory it sends, making it difficult to maintain formation consistency as per the predetermined ideal state. Furthermore, to address the challenge of unknown external disturbances encountered by trains during operation, this paper designs a distributed observer deployed on each train in the formation. This observer can estimate and dynamically compensate for unknown reference trajectories and disturbances solely based on the states of adjacent trains. Additionally, to ensure that the spacing between adjacent trains remains within a predefined range, a safety hard constraint, this paper encodes the spacing hard constraint using barrier Lyapunov function. By integrating nonlinear adaptive control theory to handle model parameter uncertainties, a barrier Lyapunov function-based adaptive control method is proposed, which enables all trains to track the reference trajectory while ensuring that the spacing between them remains within the preset interval, therefore guaranteeing the asymptotic stability of the closed-loop system. Finally, a practical example using data from the Guangzhou Metro Line 22, specifically the route from Shiguang Road Station to Chentougang Station over three stations and two sections, is utilized to validate the effectiveness and robustness of the proposed algorithm.

Adaptive Event-Triggered Consensus of Multi-Agent Systems in Sense of Asymptotic Convergence.

In this paper, the asymptotic consensus control of multi-agent systems with general linear agent dynamics is investigated. A neighbor-based adaptive event-triggering strategy with a dynamic triggering threshold is proposed, which leads to a fully distributed control of the multi-agent system, depending only on the states of the neighboring agents at triggering moments. By using the Lyapunov method, we prove that the states of the agents converge asymptotically. In addition, the proposed event-triggering strategy is proven to exclude Zeno behavior. The numerical simulation results illustrate that the agent states achieve consensus in sense of asymptotic convergence. Furthermore, the proposed strategy is shown to be scalable in case of variable agent numbers.

Extending the Framework for Developing Intelligent Virtual Environments (FIVE) with Artifacts for Modeling Internet of Things Devices and a New Decentralized Federated Learning Based on Consensus for Dynamic Networks.

One of the main lines of research in distributed learning in recent years is the one related to Federated Learning (FL). In this work, a decentralized Federated Learning algorithm based on consensus (CoL) is applied to Wireless Ad-hoc Networks (WANETs), where the agents communicate with other agents to share their learning model as they are available to the wireless connection range. When deploying a set of agents, it is essential to study whether all the WANET agents will be reachable before the deployment. The paper proposes to explore it by generating a simulation close to the real world using a framework (FIVE) that allows the easy development and modification of simulations based on Unity and SPADE agents. A fruit orchard with autonomous tractors is presented as a case study. The paper also presents how and why the concept of artifact has been included in the above-mentioned framework as a way to highlight the importance of some devices used in the environment that have to be located in specific places to ensure the full connection of the system. This inclusion is the first step to allow Digital Twins to be modeled with this framework, now allowing a Digital Shadow of those devices.

Robust Cooperative Fault-Tolerant Control for Uncertain Multi-Agent Systems Subject to Actuator Faults.

This article investigates the robust cooperative fault-tolerant control problem of multi-agent systems subject to mismatched uncertainties and actuator faults. During the design process of the intermediate variable estimator, there is no need to satisfy fault estimation matching conditions, and this overcomes a crucial constraint of traditional observers and estimators. The feedback term of the designed estimator contains the centralized estimation errors and the distributed estimation errors of the agent, and this further improves the design freedom of the proposed estimator. A novel fault-tolerant control protocol is designed based on the fault estimation information. In this work, the bounds of the fault and its derivatives are unknown, and the considered method is applicable to both directed and undirected multi-agent systems. Furthermore, the parameters of the estimator are determined through the resolution of a linear matrix inequality (LMI), which is decoupled by employing coordinate transformation and Schur decomposition. Lastly, a numerical simulation result is used to demonstrate the effectiveness of the proposed method.

Decentralized Navigation with Optimality for Multiple Holonomic Agents in Simply Connected Workspaces.

Multi-agent systems are utilized more often in the research community and industry, as they can complete tasks faster and more efficiently than single-agent systems. Therefore, in this paper, we are going to present an optimal approach to the multi-agent navigation problem in simply connected workspaces. The task involves each agent reaching its destination starting from an initial position and following an optimal collision-free trajectory. To achieve this, we design a decentralized control protocol, defined by a navigation function, where each agent is equipped with a navigation controller that resolves imminent safety conflicts with the others, as well as the workspace boundary, without requesting knowledge about the goal position of the other agents. Our approach is rendered sub-optimal, since each agent owns a predetermined optimal policy calculated by a novel off-policy iterative method. We use this method because the computational complexity of learning-based methods needed to calculate the global optimal solution becomes unrealistic as the number of agents increases. To achieve our goal, we examine how much the yielded sub-optimal trajectory deviates from the optimal one and how much time the multi-agent system needs to accomplish its task as we increase the number of agents. Finally, we compare our method results with a discrete centralized policy method, also known as a Multi-Agent Poli-RRT* algorithm, to demonstrate the validity of our method when it is attached to other research algorithms.

Dynamic Coalition Formation among IoT Service Providers: A Systematic Exploration of IoT Dynamics Using an Agent-Based Model.

This paper introduces an Agent-Based Model (ABM) designed to investigate the dynamics of the Internet of Things (IoT) ecosystem, focusing on dynamic coalition formation among IoT Service Providers (SPs). Drawing on insights from our previous research in 5G network modeling, the ABM captures intricate interactions among devices, Mobile Network Operators (MNOs), SPs, and customers, offering a comprehensive framework for analyzing the IoT ecosystem's complexities. In particular, to address the emerging challenge of dynamic coalition formation among SPs, we propose a distributed Multi-Agent Dynamic Coalition Formation (MA-DCF) algorithm aimed at enhancing service provision and fostering collaboration. This algorithm optimizes SP coalitions, dynamically adjusting to changing demands over time. Through extensive experimentation, we evaluate the algorithm's performance, demonstrating its superiority in terms of both payoff and stability compared to three classical coalition formation algorithms: static coalition, non-overlapping coalition, and random coalition. This study significantly contributes to a deeper understanding of the IoT ecosystem's dynamics and highlights the potential benefits of dynamic coalition formation among SPs, providing valuable insights and opening future avenues for exploration.

A Generalised Dropout Mechanism for Distributed Systems.

This letter uses a modified form of the NK model introduced to explore aspects of distributed control. In particular, a previous result suggesting the use of dynamically formed subgroups within the overall system can be more effective than global control is further explored. The conditions under which the beneficial distributed control emerges are more clearly identified, and the reason for the benefit over traditional global control is suggested as a generally applicable dropout mechanism to improve learning in such systems.

Expertise, Social Influence, and Knowledge Aggregation in Distributed Information Processing.

In many social, cyber-physical, and socio-technical systems, a group of autonomous peers can encounter a knowledge aggregation problem, requiring them to organise themselves, without a centralised authority, as a distributed information processing unit (DIP). In this article, we specify and implement a new algorithm for knowledge aggregation based on Nowak's psychological theory Regulatory Theory of Social Influence (RTSI). This theory posits that social influence consists of not only sources trying to influence targets, but also targets seeking sources by whom to be influenced and learning what processing rules those sources are using. A multi-agent simulator SMARTSIS is implemented to evaluate the algorithm, using as its base scenario a linear public goods game where the DIP's decision is a qualitative question of distributive justice. In a series of experiments examining the emergence of expertise, we show how RTSI enhances the effectiveness of the multi-agent DIP as a social group while conserving each agent's individual resources. Additionally, we identify eight criteria for evaluating the DIP unit's performance, consisting of four conflicting pairs of systemic drivers, and discuss how RTSI maintains a balanced tension between the four driver pairs through the emergence and divergence of expertise. We conclude by arguing that this shows how psychological theories like RTSI can have a crucial role in informing agent-based models of human behaviour, which in turn may be critically important for effective knowledge management and reflective self-improvement in both cyber-physical and socio-technical systems.

Electronic Health Record Recording of Patient Pain: Challenges and Discrepancies.

PURPOSE OF REVIEW: In the present review, various categories of pain, clinician-observed pain scales, and patient-reported pain scales are evaluated to better understand factors that impact patient pain perceptions. Additionally, the expansion of areas that require further research to determine the optimal way to evaluate pain scale data for treatment and management are discussed. RECENT FINDINGS: Electronic health record (EHR) data provides a starting point for evaluating whether patient predictors influence postoperative pain. There are several ways to assess pain and choosing the most effective form of pain treatment. Identifying individuals at high risk for severe postoperative pain enables more effective pain treatment. However, there are discrepancies in patient pain reporting dependent on instruments used to measure pain and their storage in the EHR. Additionally, whether administered by a physician or another healthcare practitioner, differences in patient pain perception occur. While each scale has distinct advantages and limitations, pain scale data is a valuable therapeutic tool for assisting clinicians in providing patients with optimal pain control. Accurate assessment of patient pain perceptions by data extraction from electronic health records provides a potential for pain alleviation improvement. Predicting high-risk postoperative pain syndromes is a difficult clinical challenge. Numerous studies have been conducted on factors that impact pain prediction. Postoperative pain is significantly predicted by the kind of operation, the existence of prior discomfort, patient anxiety, and age.

Multi-agent Systems and Cancer Pain Management.

PURPOSE: The present investigation explores multi-agent systems, their function in cancer pain management, and how they might enhance patient care. Since cancer is a complex disease, technology can help doctors and patients coordinate care and communicate effectively. Even when a patient has a dedicated team, treatment may be fragmented. Multi-agent systems (MAS) are one component of technology that is making progress for cancer patients. Wireless sensory networks (WSN) and body area sensory networks (BASN) are examples of MAS. RECENT FINDINGS: Technology is advancing the care of patients, not only in everyday clinical practice, but also in creating accessible communication between patients and provider. Many hospitals have utilized electronic medical records (EHR), but recent advancements allowed the pre-existing infrastructure to network with personal devices creating a more congruent form of communications. Better communication can better organize pain management, leading to better clinical outcomes for patients, integrating body sensors, such as smart watch, or using self-reporting apps. Certain software applications are also used to help providers in early detections of some cancers, having accurate results. The integration of technology in the field of cancer management helps create an organized structure for cancer patients trying to understand/manage their complex diagnosis. The systems for the various healthcare entities can receive and access frequently updated information that can better provide better coverage of the patient's pain and still be within the legalities as it pertains to opioid medications. The systems include the EHR communicating with the information provided by the patient's cellular devices and then communicating with the healthcare team to determine the next step in management. This all happens automatically with much physical input from the patient decreasing the amount of effort from the patient and hopefully decreasing the number of patients' loss to follow-up.

Multi-Modal Decentralized Interaction in Multi-Entity Systems.

Current multi-agent frameworks usually use centralized, fixed communication infrastructures for the entities that are deployed using them. This decreases the robustness of the system but is less challenging when having to deal with mobile agents that can migrate between nodes. We introduce, in the context of the FLASH-MAS (Fast and Lightweight Agent Shell) multi-entity deployment framework, methods to build decentralized interaction infrastructures which support migrating entities. We discuss the WS-Regions (WebSocket Regions) communication protocol, a proposal for interaction in deployments using multiple communication methods, and a mechanism to facilitate using arbitrary names for entities. The WS-Regions Protocol is compared against Jade (the Java Agent Development Framework), the most popular agent deployment framework, with a favorable trade-off between decentralization and performance.

Predefined Time Synchronization of Multi-Agent Systems: A Passivity Based Analysis.

This paper deals with the predefined-time synchronization for a class of nonlinear multi-agent systems. The notion of passivity is exploited to design the controller for predefined-time synchronization of a nonlinear multi-agent system, where the time of synchronization can be preassigned. Developed control can be used to synchronize large-scale, higher-order multi-agent systems as passivity is an important property in designing control for complex control systems, where the control inputs and outputs are considered in determining the stability of the system in contrast to other approaches, such as state-based Control We introduced the notion of predefined-time passivity and as an application of the exposed stability analysis, static and adaptive predefined-time control algorithms are designed to study the average consensus problem for nonlinear leaderless multiagent systems in predefined-time. We provide a detailed mathematical analysis of the proposed protocol, including convergence proof and stability analysis. We discussed the tracking problem for a single agent, and designed state feedback and adaptive state feedback control scheme to make tracking error predefined-time passive and then showed that in the absence of external input, tracking error reduces to zero in predefined-time. Furthermore, we extended this concept for a nonlinear multi-agent system and designed state feedback and adaptive state feedback control scheme which ensure synchronization of all the agents in predefined-time. To further strengthen the idea, we applied our control scheme to a nonlinear multi-agent system by taking the example of Chua's circuit. Finally, we compared the result of our developed predefined-time synchronization framework with finite-time synchronization scheme available in literature for the Kuramoto model.

Consensus Control of Linear Parameter-Varying Multi-Agent Systems with Unknown Inputs.

This paper investigates the observer-based consensus control problem for linear parameter-varying (LPV) multi-agent systems (MASs) with unknown inputs. Firstly, an interval observer (IO) is designed to generate the state interval estimation for each agent. Secondly, an algebraic relationship is established between the system state and unknown input (UI). Thirdly, an unknown input observer (UIO) capable of generating estimates of UI and the system state has been developed through the algebraic relations. Finally, a UIO-based distributed control protocol scheme is proposed to realize the consensus of the MASs. In the end, to verify the validity of the proposed method, an example of a numerical simulation is given.

Interval Type-II Fuzzy Fault-Tolerant Control for Constrained Uncertain 2-DOF Robotic Multi-Agent Systems with Active Fault Detection.

This study proposed a novel adaptive interval Type-II fuzzy fault-tolerant control for constrained uncertain 2-DOF robotic multi-agent systems with an active fault-detection algorithm. This control method can realize the predefined-accuracy stability of multi-agent systems under input saturation constraint, complex actuator failure and high-order uncertainties. Firstly, a novel active fault-detection algorithm based on pulse-wave function was proposed to detect the failure time of multi-agent systems. To the best of our knowledge, this was the first time that an active fault-detection strategy had been used in multi-agent systems. Then, a switching strategy based on active fault detection was presented to design the active fault-tolerant control algorithm of the multi-agent system. In the end, based on the interval type-II fuzzy approximated system, a novel adaptive fuzzy fault-tolerant controller was proposed for multi-agent systems to deal with system uncertainties and redundant control inputs. Compared with other relevant fault-detection and fault-tolerant control methods, the proposed method can achieve predefinition of stable accuracy with smoother control input. The theoretical result was verified by simulation.

Resilient Consensus Control for Multi-Agent Systems: A Comparative Survey.

Due to the openness of communication network and the complexity of system structures, multi-agent systems are vulnerable to malicious network attacks, which can cause intense instability to these systems. This article provides a survey of state-of-the-art results of network attacks on multi-agent systems. Recent advances on three types of attacks, i.e., those on DoS attacks, spoofing attacks and Byzantine attacks, the three main network attacks, are reviewed. Their attack mechanisms are introduced, and the attack model and the resilient consensus control structure are discussed, respectively, in detail, in terms of the theoretical innovation, the critical limitations and the change of the application. Moreover, some of the existing results along this line are given in a tutorial-like fashion. In the end, some challenges and open issues are indicated to guide future development directions of the resilient consensus of multi-agent system under network attacks.

DCP-SLAM: Distributed Collaborative Partial Swarm SLAM for Efficient Navigation of Autonomous Robots.

Collaborative robots represent an evolution in the field of swarm robotics that is pervasive in modern industrial undertakings from manufacturing to exploration. Though there has been much work on path planning for autonomous robots employing floor plans, energy-efficient navigation of autonomous robots in unknown environments is gaining traction. This work presents a novel methodology of low-overhead collaborative sensing, run-time mapping and localization, and navigation for robot swarms. The aim is to optimize energy consumption for the swarm as a whole rather than individual robots. An energy- and information-aware management algorithm is proposed to optimize the time and energy required for a swarm of autonomous robots to move from a launch area to the predefined destination. This is achieved by modifying the classical Partial Swarm SLAM technique, whereby sections of objects discovered by different members of the swarm are stitched together and broadcast to members of the swarm. Thus, a follower can find the shortest path to the destination while avoiding even far away obstacles in an efficient manner. The proposed algorithm reduces the energy consumption of the swarm as a whole due to the fact that the leading robots sense and discover respective optimal paths and share their discoveries with the followers. The simulation results show that the robots effectively re-optimized the previous solution while sharing necessary information within the swarm. Furthermore, the efficiency of the proposed scheme is shown via comparative results, i.e., reducing traveling distance by 13% for individual robots and up to 11% for the swarm as a whole in the performed experiments.

Event-Triggered Sliding Mode Neural Network Controller Design for Heterogeneous Multi-Agent Systems.

A class of heterogeneous second-order multi-agent consensus problems is studied, in which an event-triggered method is used to improve the feasibility of the control protocol. The sliding mode control method is used to achieve the robustness of the system. A special type of general radial basis function neural network is applied to estimate the uncertainties. The event-triggered mechanism is introduced to reduce the update frequency of the controller and the communication frequency among the agents. Zeno behavior is avoided by ensuring a lower bound between two adjacent trigger instants. Finally, the simulation results are provided to demonstrate that the time evolution of consensus errors eventually approaches zero. The consensus of multi-agent systems is achieved.

Coordinated Optimal Control of AFS and DYC for Four-Wheel Independent Drive Electric Vehicles Based on MAS Model.

The problem that it is difficult to balance vehicle stability and economy at the same time under the starting steering condition of a four-wheel independent drive electric vehicle (4WIDEV) is addressed. In this paper, we propose a coordinated optimal control method of AFS and DYC for a four-wheel independent drive electric vehicle based on the MAS model. Firstly, the angular velocity of the transverse pendulum at the center of mass and the lateral deflection angle of the center of mass are decoupled by vector transformation, and the two-degree-of-freedom eight-input model of the vehicle is transformed into four two-degree-of-freedom two-input models, and the reduced-dimensional system is regarded as four agents. Based on the hardware connection structure and communication topology of the four-wheel independent drive electric vehicle, the reduced-dimensional model of 4WIDEV AFS and DYC coordinated optimal control is established based on graph theory. Secondly, the deviation of the vehicle transverse swing angular velocity and mass lateral deflection angle from their ideal values is oriented by combining sliding mode variable structure control (SMC) with distributed model predictive control (DMPC). A discrete dynamic sliding mode surface function is proposed for the ith agent to improve the robustness of the system in response to parameter variations and disturbances. Considering the stability and economy of the ith agent, an active front wheel steering and drive torque optimization control method based on SMC and DMPC is proposed for engineering applications. Finally, a hardware-in-the-loop (HIL) test bench is built for experimental verification, and the results show that the steering angle is in the range of 0-5°, and the proposed method effectively weighs the system dynamic performance, computational efficiency, and the economy of the whole vehicle. Compared with the conventional centralized control method, the torque-solving speed is improved by 32.33 times, and the electrical consumption of the wheel motor is reduced by 16.6%.

Periodic Intermittent Adaptive Control with Saturation for Pinning Quasi-Consensus of Heterogeneous Multi-Agent Systems with External Disturbances.

A periodic intermittent adaptive control method with saturation is proposed to pin the quasi-consensus of nonlinear heterogeneous multi-agent systems with external disturbances in this paper. A new periodic intermittent adaptive control protocol with saturation is designed to control the internal coupling between the follower agents and the feedback gain between the leader and the follower. In particular, we use the saturation adaptive law: when the quasi-consensus error converges to a certain range, the adaptive coupling edge weight and the adaptive feedback gain will not be updated. Furthermore, we propose three saturated adaptive pinning control protocols. The quasi-consensus is achieved through its own pinning as long as the agents remain connected to each other. Using the Lyapunov function method and inequality technique, the convergence range of the quasi-consensus error of a heterogeneous multi-agent system is obtained. Finally, the rationality of the proposed control protocol is verified through numerical simulation. Theoretical derivation and simulation results show that the novel proposed periodic intermittent adaptive control method with saturation can successfully be used to achieve the pinning of quasi-consensus of nonlinear heterogeneous multi-agent systems.

Event-Triggered Bounded Consensus Tracking for Second-Order Nonlinear Multi-Agent Systems with Uncertainties.

This paper is concerned with event-triggered bounded consensus tracking for a class of second-order nonlinear multi-agent systems with uncertainties (MASs). Remarkably, the considered MASs allow multiple uncertainties, including unknown control coefficients, parameterized unknown nonlinearities, uncertain external disturbances, and the leader's control input being unknown. In this context, a new estimate-based adaptive control protocol with a triggering mechanism is proposed. We rule out Zeno behavior by testifying that the lower bound on the interval between two consecutive events is positive. It is shown that under the designed protocol, all signals caused by the closed-loop systems are bounded globally uniformly and tracking errors ultimately converge to a bounded set. The effectiveness of the devised control protocol is demonstrated through a simulation example.