M.Sc Thesis

M.Sc StudentBen-Shoushan Yaniv
SubjectNegotiation between Dynamical Systems with Connectivity
DepartmentDepartment of Autonomous Systems and Robotics
Supervisor ASSOCIATE PROF. Daniel Zelazo
Full Thesis textFull thesis text - English Version


This work presents a real-time sub-optimal solution for an agreement problem in multi-agent systems. Each agent is modeled with integrator dynamics and has an associated objective function it wishes to minimize. The agents must coordinate to reach an agreement on their state in finite time. Each agent is able to communicate with other neighbors according to a fixed connectivity structure, and each agent must ensure that it will maintain the necessary communication range with its neighbors, meaning that there will be no damage to the connectivity structure that may be caused by a larger distance between the agents than the communication radius defined. The main contribution of this work is to find a distributed solution to this problem in finite-time.