In this talk, we consider the problem of state estimation and
control for systems characterized by both continuous and logic evolution.
In particular, multi-agent systems are considered such as multi-robot
systems or transportation systems. In these systems, the continuous
variables represent physical quantities such as the position and velocity of
a robot or a vehicle, while discrete variables may represent the state of
the logical system that is used for control and coordination. This work
proposes a novel approach to state estimation and control that exploits
partial order theory to overcome some of the severe complexity issues that
arise in multi-agent systems. A multi-robot example involving two teams of
robots competing against each other is proposed to illustrate the developed
ideas.
|