Distributed Multi‐Agent Coordination with Uncertain Interactions: A Probabilistic Perspective
Yongcan Cao, David W. Casbeer, Eloy García, Corey J. Schumacher · 2017
Recently, distributed multi-agent coordination research has started to consider stochastic interaction topologies. The study of distributed coordination in the sense of probability reveals some explicit relationship between deterministic and stochastic coordination. This chapter discusses distributed coordination in the sense of probability for a team of n networked agents when the interaction graph is fixed and undirected and randomly chosen from some given set Sf. It considers two cases: equal possibility: each element in Sf is chosen with equal probability, and unequal possibility: each element in Sf is chosen with (possibly) unequal possibility. The chapter also discusses distributed coordination in the sense of probability for both fixed interaction and switching interaction graphs. For the case of a directed switching interaction graph, the equivalence of coordination in probability, coordination with probability 1, and coordination in the rth mean was shown without requiring an independent and identically distributed (i.i.d.) random process or linear system dynamics.