In this article, we propose a new formation scheme for a leader-follower unmanned aerial vehicle (UAV) system inspired by a human pilot's behavior wherein the formation geometry does not necessarily remain fixed as the vehicles maneuver. In other words, the position and the orientation of the follower with respect to the leader are subject to change as they maneuver while satisfying some constraints. Our strategy ensures that the follower UAV maintains a desired fixed relative distance with respect to the leader UAV, whereas its orientation with respect to the leader UAV may change to reduce its control effort and provide it with a tactical advantage. We call this new relational maneuvering scheme flexible since the set of feasible positions for the follower UAV is not fixed, as is common in close proximity two-ship formations in air-to-air combat. By assigning the follower UAV's linear and angular velocities as its control inputs, our approach tries to emulate a human pilot's behavior in UAVs by taking anticipatory maneuvers when the leader UAV makes aggressive turns. The proposed flexible-geometry formation scheme is robust to the leader's maneuver changes since the follower UAV's control law does not need the information of the leader's angular speed control and only uses relative measurements. This makes the design lucrative even when the vehicles are heterogeneous, global measurements are unavailable, or if the leader UAV is noncooperative. Finally, we present multiple simulations to highlight the merits of the flexible formation control laws.

With advancements in mobile robot olfaction, networked multiagent systems (MASs) are used in odor source localization (OSL). These MASs are often equipped with small microprocessors that have limited computing capabilities, and they usually operate in a bandwidth and energy-constrained environment. The exigent need for a faster localizing algorithm under communication and computational resource constraints invites many design challenges. In this paper, we have designed a two-level hierarchical cooperative control strategy for heterogeneous nonlinear MASs for OSL. The agents are forced toward consensus expeditiously once the information on the whereabouts of the source is attained. The synthesis of the controller occurs in a hierarchical manner-obtaining a group decision, followed by resource-efficient robust control. Odor concentration and wind information have been used in a group decision-making layer to predict a probable location of the source as a tracking reference. This reference is then fed to the control layer that is synthesized using event-triggered sliding-mode control (SMC). The advantage of using event-triggered control scheduling in conjunction with the SMC is rooted in retaining the robustness of the SMC while lowering the resource utilization burden. Numerical simulations confirm the efficiency of the scheme put forth.

This paper presents an investigation of the task of localizing an unknown source of an odor by heterogeneous multiagent systems. A hierarchical cooperative control strategy has been proposed as a potential candidate to solve the problem. The agents are driven into consensus as soon as the information about the location of source is acquired. The controller has been designed in a hierarchical manner of group decision making, agent path planning, and robust control. In group decision making, the particle swarm optimization algorithm has been used along with the information of the movement of odor molecules to predict the odor source location. Next, a trajectory has been mapped using this predicted location of source, and the information is passed to the control layer. A variable structure control has been used in the control layer due to its inherent robustness and disturbance rejection capabilities. Cases of movement of agents toward the source under consensus and parallel formation have been discussed. The efficacy of the proposed scheme has been confirmed by simulations.

Mechanism design for incentivizing strategic agents to maximize their sum of utilities (SoU) is a well-studied problem in the context of resource allocation in networks. There are, however, a number of network resource allocation problems of interest where a designer may have a different objective than maximization of the SoU. The obvious reason for seeking a different objective is that this notion of efficiency does not account for fairness of allocation. A second, more subtle, reason for demanding fairer allocation is that it indirectly implies less variation in taxes paid by agents. This is desirable in a situation where implicit individual agent budgetary constraints make payment of large taxes unrealistic. In this paper, we study a family of social utilities that provide fair allocation (with SoU being subsumed as an extreme case) and derive conditions under which Bayesian and dominant strategy implementation is possible. Furthermore, it is shown how a modification of the above-mentioned mechanism by adding just one message per agent can guarantee full Bayesian implementation, i.e., no extraneous equilibria. We consider the problem of demand-side management in smart grids as a specific motivating application, and through numerical analysis, it is demonstrated that in this application, the proposed method can result in significant gains in fairness of allocation and a reduction in tax variation among agents.

In this paper we consider the scenario of unicast service on the Internet where a network operator wishes to allocate rates among strategic users in a way that maximizes overall user satisfaction while respecting capacity constraints on every link in the network. In particular, we construct two mechanisms that fully implement social welfare maximizing allocation in Nash equilibria (NE) for the above scenario when agents' utilities are their private information. The emphasis of this work is on full implementation, which means that all NE of the induced game result in the optimal allocation of the centralized allocation problem, and thus no extraneous/ unwanted equilibria are created, as is the case in general mechanism design. The constructed mechanisms are amenable to learning, an essential requirement when using NE as a solution concept. This is achieved by ensuring that they result in feasible allocations on and off equilibrium and are budget balanced.

We present a new optimization-theoretic approach to analyzing Follow-the-Leader style algorithms, particularly in the setting where perturbations are used as a tool for regularization. We show that adding a strongly convex penalty function to the decision rule and adding stochastic perturbations to data correspond to deterministic and stochastic smoothing operations, respectively. We establish an equivalence between “Follow the Regularized Leader” and “Follow the Perturbed Leader” up to the smoothness properties. This intuition leads to a new generic analysis framework that recovers and improves the previous known regret bounds of the class of algorithms commonly known as Follow the Perturbed Leader.