分散モデル予測制御の通信量削減：オートエンコーダとフォーメーション制御
Reducing the Communication of Distributed Model Predictive Control: Autoencoders and Formation Control
分散モデル予測制御において、エージェント間で交換するデータをオートエンコーダで圧縮・復元することで通信量を削減し、非ホロノミックな差動駆動ロボットのフォーメーション制御で有効性を示した。
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著者: Torben Schiz, Henrik Ebel
分類: eess.SY, cs.DC, cs.RO, cs.SY
原文アブストラクト
Communication remains a key factor limiting the applicability of distributed model predictive control (DMPC) in realistic settings, despite advances in wireless communication. DMPC schemes can require an overwhelming amount of information exchange between agents as the amount of data depends on the length of the predication horizon, for which some applications require a significant length to formally guarantee nominal asymptotic stability. This work aims to provide an approach to reduce the communication effort of DMPC by reducing the size of the communicated data between agents. Using an autoencoder, the communicated data is reduced by the encoder part of the autoencoder prior to communication and reconstructed by the decoder part upon reception within the distributed optimization algorithm that constitutes the DMPC scheme. The choice of a learning-based reduction method is motivated by structure inherent to the data, which results from the data's connection to solutions of optimal control problems. The approach is implemented and tested at the example of formation control of differential-drive robots, which is challenging for optimization-based control due to the robots' nonholonomic constraints, and which is interesting due to the practical importance of mobile robotics. The applicability of the proposed approach is presented first in form of a simulative analysis showing that the resulting control performance yields a satisfactory accuracy. In particular, the proposed approach outperforms the canonical naive way to reduce communication by reducing the length of the prediction horizon. Moreover, it is shown that numerical experiments conducted on embedded computation hardware, with real distributed computation and wireless communication, work well with the proposed way of reducing communication even in practical scenarios in which full communication fails.
