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Multiagent systems with hybrid interacting dynamics.

機(jī)譯：具有混合交互動(dòng)力學(xué)的多主體系統(tǒng)。

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Multiagent systems with hybrid interacting dynamics are groups of systems whose individual components have hybrid dynamics that affect each other's behavior at both the continuous and discrete levels. These systems are found in a wide range of applications including multivehicle systems, networks of sensors, actuators and embedded control systems, and communication networks. In this dissertation we study the modeling and control of these systems from various different perspectives. Motivated by a control problem in the design of future communication networks, we study a multiagent system whose agents move across a network of discrete locations competing for resources they obtain from such locations. The resources they compete for are continuous while the movements of agents in the network are discrete due to the discrete nature of their environment. The ultimate objective is to be able to control agents and nodes such that their interacting dynamics converge to a point that optimizes the usage of the network's resources. This motivates the formulation of a hybrid dynamical model for agents and nodes to be able to capture the continuous dynamics of the resource allocation, and the discrete dynamics of moving agents and changing network conditions. Additionally we apply resource allocation theory on the design of the continuous dynamics of agents and nodes. We then explore dynamical properties of Interconnected Hybrid Systems (IHS), which is a framework we propose to model general multiagent systems with hybrid interacting dynamics. In particular we obtain conditions for the existence and uniqueness of the executions of IHS and apply these conditions in the design of the general structure of the discrete dynamics of the agents in the resource allocation problem. Then we explore the application of randomized optimization algorithms to the optimal control of individual and multiagent hybrid systems. In the case of individual hybrid systems we compare the randomized approach to existing gradient based techniques obtaining comparable performance to this model-based technique. In the multiagent case we apply the same algorithm to the resource allocation problem, achieving the initial design objective of controlling the movements of agents towards a configuration that optimizes the usage of resources in the network. Finally, we explore the use of abstractions for the model simplification of individual hybrid systems, and discuss its applicability to the resource allocation problem. The abstraction we propose substitutes the continuous dynamics of a hybrid system for docks, creating a timed automaton that is simpler than the original system but retains the reachability and stability properties of the original system, and keeps track of the time that takes the original system to converge to an equilibrium set.
機(jī)譯：具有混合交互動(dòng)力學(xué)的多主體系統(tǒng)是一組系統(tǒng)，其各個(gè)組件具有混合動(dòng)力學(xué)，這些混合動(dòng)力學(xué)會(huì)在連續(xù)和離散級(jí)別上影響彼此的行為。這些系統(tǒng)的應(yīng)用廣泛，包括多車輛系統(tǒng)，傳感器網(wǎng)絡(luò)，執(zhí)行器和嵌入式控制系統(tǒng)以及通信網(wǎng)絡(luò)。本文從不同的角度研究了這些系統(tǒng)的建模與控制。受未來(lái)通信網(wǎng)絡(luò)設(shè)計(jì)中的控制問(wèn)題的影響，我們研究了一種多智能體系統(tǒng)，其智能體在離散位置的網(wǎng)絡(luò)中移動(dòng)，競(jìng)爭(zhēng)從這些位置獲得的資源。他們競(jìng)爭(zhēng)的資源是連續(xù)的，而由于環(huán)境的離散性，代理在網(wǎng)絡(luò)中的移動(dòng)是離散的。最終目標(biāo)是能夠控制代理和節(jié)點(diǎn)，以使它們的交互動(dòng)力學(xué)收斂到優(yōu)化網(wǎng)絡(luò)資源使用的程度。這激勵(lì)了為代理和節(jié)點(diǎn)建立混合動(dòng)態(tài)模型的能力，以便能夠捕獲資源分配的連續(xù)動(dòng)態(tài)，以及移動(dòng)代理和不斷變化的網(wǎng)絡(luò)狀況的離散動(dòng)態(tài)。另外，我們將資源分配理論應(yīng)用于代理和節(jié)點(diǎn)的連續(xù)動(dòng)態(tài)設(shè)計(jì)。然后，我們探索互連混合系統(tǒng)（IHS）的動(dòng)力學(xué)特性，這是我們提出的框架，用于利用混合相互作用動(dòng)力學(xué)對(duì)通用多主體系統(tǒng)進(jìn)行建模。特別是，我們獲得了IHS執(zhí)行的存在性和唯一性的條件，并將這些條件應(yīng)用于資源分配問(wèn)題中代理離散動(dòng)態(tài)的一般結(jié)構(gòu)設(shè)計(jì)。然后，我們探索了隨機(jī)優(yōu)化算法在單個(gè)和多主體混合系統(tǒng)的最優(yōu)控制中的應(yīng)用。在單個(gè)混合系統(tǒng)的情況下，我們將隨機(jī)方法與現(xiàn)有的基于梯度的技術(shù)進(jìn)行比較，從而獲得與基于模型的技術(shù)相當(dāng)?shù)男阅?。在多代理程序的情況下，我們將相同的算法應(yīng)用于資源分配問(wèn)題，從而實(shí)現(xiàn)了控制代理程序向優(yōu)化網(wǎng)絡(luò)中資源使用的配置的運(yùn)動(dòng)的初始設(shè)計(jì)目標(biāo)。最后，我們探索將抽象用于單個(gè)混合系統(tǒng)的模型簡(jiǎn)化，并討論其在資源分配問(wèn)題中的適用性。我們提出的抽象概念是將混合系統(tǒng)的連續(xù)動(dòng)力學(xué)替換為碼頭，從而創(chuàng)建了一個(gè)定時(shí)自動(dòng)機(jī)，該自動(dòng)機(jī)比原始系統(tǒng)更簡(jiǎn)單，但保留了原始系統(tǒng)的可到達(dá)性和穩(wěn)定性，并跟蹤將原始系統(tǒng)移至收斂到平衡集。

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