Abstractions of varying decentralization degree for coupled multi-agent systems
Dimitris Boskos, Dimos V. Dimarogonas · 2016
In this paper, we aim at the development of a decentralized abstraction framework for multi-agent systems under coupled constraints, with the possibility for a varying degree of decentralization. The methodology is based on the analysis employed in our recent work, where decentralized abstractions based exclusively on the information of each agent's neighbors were derived. In the first part of this paper, we define the notion each agent's m-neighbor set, which constitutes a measure for the employed degree of decentralization. Then, sufficient conditions are provided on the space and time discretization that provides the abstract system's model, which guarantee the extraction of a meaningful transition system with quantifiable transition possibilities.