Stochastic Hybrid Networks for Global Almost Sure Unanimous Decision Making

• 成果类型: Article
• 署名作者: Teel, Andrew R.
• 署名单位: University of California System; University of California Santa Barbara
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3294303
• 发表日期: 2024
• 页码: 1386-1401
• 关键词: Agreement; decision making; Multi-agent systems; networked control systems; stochastic hybrid systems

摘要

A stochastic, hybrid algorithm for global almost sure unanimous decision making in multiagent systems is introduced. Homogeneous agents communicate over an undirected connected graph to make a unanimous selection among a finite set of decision states. The agents have inertia corresponding to stable, linear, and continuous-time dynamics. The algorithm equips each agent with a logic variable and designs logic-variable reset rules to ensure eventual unanimity. These resets occur randomly in time. They are randomly assigned among those indices of the decision states that nearly minimize the value of a function that quantifies the mismatch between the average of the agent states, or a local estimate thereof, and the corresponding decision state. In order to satisfy regularity properties that confer robustness, the resulting update rule corresponds to an inclusion, i.e., a set-valued mapping. Global almost sure decision making is established using a classical Lyapunov function argument that has recently been extended to stochastic hybrid inclusions.