multi-agent control of a fleet of cybercarsmulti-agent control of a fleet of cybercars renshi luo...
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Multi-Agent Control of A fleet of Cybercars
Renshi Luo
Delft Center for Systems and ControlDelft University of Technology
September 5, 2013
Renshi Luo (DCSC, TUD) 1 / 21
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Who I am
Renshi Luo (DCSC, TUD) 2 / 21
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Who I am
• second year Ph.D candicate
Renshi Luo (DCSC, TUD) 2 / 21
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Who I am
• second year Ph.D candicate
• member of Hybrid and Distributed Systems and Control group
Renshi Luo (DCSC, TUD) 2 / 21
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Who I am
• second year Ph.D candicate
• member of Hybrid and Distributed Systems and Control group
• work with Ton van den Boom and Bart De Schutter
Renshi Luo (DCSC, TUD) 2 / 21
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Do you drive car?
Renshi Luo (DCSC, TUD) 3 / 21
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Renshi Luo (DCSC, TUD) 4 / 21
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• accidents
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• accidents
• congestion
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• accidents
• congestion
• energy consumption
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• accidents
• congestion
• energy consumption
• pollution
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Renshi Luo (DCSC, TUD) 5 / 21
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Public transport systems
• considered suitable solutions to those problems
Renshi Luo (DCSC, TUD) 6 / 21
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Public transport systems
• considered suitable solutions to those problems
• e.g., buses, trams, subways, etc
Renshi Luo (DCSC, TUD) 6 / 21
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Public transport systems
• considered suitable solutions to those problems
• e.g., buses, trams, subways, etc
• widely used and contiuously improved
Renshi Luo (DCSC, TUD) 6 / 21
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Public transport systems
• considered suitable solutions to those problems
• e.g., buses, trams, subways, etc
• widely used and contiuously improved
• * predefined schedules and routes
Renshi Luo (DCSC, TUD) 6 / 21
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Public transport systems
• considered suitable solutions to those problems
• e.g., buses, trams, subways, etc
• widely used and contiuously improved
• * predefined schedules and routes
In terms of personal mobility, private cars still win !!
Renshi Luo (DCSC, TUD) 6 / 21
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Public transport systems
• considered suitable solutions to those problems
• e.g., buses, trams, subways, etc
• widely used and contiuously improved
• * predefined schedules and routes
In terms of personal mobility, private cars still win !!
Problems are still unsolved !!
Renshi Luo (DCSC, TUD) 6 / 21
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New approach for personal mobility
Renshi Luo (DCSC, TUD) 7 / 21
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New approach for personal mobility
Cybercars
• automated road vehicles
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New approach for personal mobility
Cybercars
• automated road vehicles
• provide on-demand and door-to-door service
Renshi Luo (DCSC, TUD) 7 / 21
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New approach for personal mobility
Cybercars
• automated road vehicles
• provide on-demand and door-to-door service
• mostly small-sized
Renshi Luo (DCSC, TUD) 7 / 21
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New approach for personal mobility
Cybercars
• automated road vehicles
• provide on-demand and door-to-door service
• mostly small-sized
• energy efficient
Renshi Luo (DCSC, TUD) 7 / 21
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Cybernetic transportation system (CTS)
• promising solution to urban transportation challenges
Renshi Luo (DCSC, TUD) 9 / 21
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Cybernetic transportation system (CTS)
• promising solution to urban transportation challenges
• formed by a fleet of cybercars
Renshi Luo (DCSC, TUD) 9 / 21
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Cybernetic transportation system (CTS)
• promising solution to urban transportation challenges
• formed by a fleet of cybercars
• high flexibility amd reactivity
Renshi Luo (DCSC, TUD) 9 / 21
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Cybernetic transportation system (CTS)
• promising solution to urban transportation challenges
• formed by a fleet of cybercars
• high flexibility amd reactivity
• emerged in Europe and first used at Schipol airport
Renshi Luo (DCSC, TUD) 9 / 21
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Cybernetic transportation system (CTS)
• promising solution to urban transportation challenges
• formed by a fleet of cybercars
• high flexibility amd reactivity
• emerged in Europe and first used at Schipol airport
• projects including CyberCars, CyberMove and CyberCars-2,CityMobil
Renshi Luo (DCSC, TUD) 9 / 21
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Opportunity and Challenge
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Opportunity and Challenge
Opportunity
automated driving technology has been well developed
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Opportunity and Challenge
Opportunity
automated driving technology has been well developed
Challenge
lack of efficient cooperation strategy
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Cooperation of cybercars
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Cooperation of cybercars
Cooperation
• necessary for optimal performance of CTS
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Cooperation of cybercars
Cooperation
• necessary for optimal performance of CTS
variaty
• collision avoidance
• platoon merge and split
• dynamic routing
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Cooperation of cybercars
Renshi Luo (DCSC, TUD) 12 / 21
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Cooperation of cybercars
Multi-agent system
Renshi Luo (DCSC, TUD) 12 / 21
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Cooperation of cybercars
Multi-agent system
• moving decision-making agents
Renshi Luo (DCSC, TUD) 12 / 21
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Cooperation of cybercars
Multi-agent system
• moving decision-making agents
• extensive on-board processing and communication capabilities
Renshi Luo (DCSC, TUD) 12 / 21
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Cooperation of cybercars
Multi-agent system
• moving decision-making agents
• extensive on-board processing and communication capabilities
• abundant information of environment
Renshi Luo (DCSC, TUD) 12 / 21
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Cooperation of cybercars
Multi-agent system
• moving decision-making agents
• extensive on-board processing and communication capabilities
• abundant information of environment
Abstract object of our research !!
Renshi Luo (DCSC, TUD) 12 / 21
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Fleet control problem of cybercars
Renshi Luo (DCSC, TUD) 13 / 21
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Fleet control problem of cybercars
Existing reseach
Renshi Luo (DCSC, TUD) 13 / 21
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Fleet control problem of cybercars
Existing reseach
• from conceptual point of view
Renshi Luo (DCSC, TUD) 13 / 21
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Fleet control problem of cybercars
Existing reseach
• from conceptual point of view
• conceptual description of control system architecture andfunctions
Renshi Luo (DCSC, TUD) 13 / 21
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Fleet control problem of cybercars
Existing reseach
• from conceptual point of view
• conceptual description of control system architecture andfunctions
Our research
Renshi Luo (DCSC, TUD) 13 / 21
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Fleet control problem of cybercars
Existing reseach
• from conceptual point of view
• conceptual description of control system architecture andfunctions
Our research
• explore specific case, i.e., dynamic routing problem
Renshi Luo (DCSC, TUD) 13 / 21
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Problem description
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Problem description
Set up
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Problem description
Set up
• dedicated roads network
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Problem description
Set up
• dedicated roads network
• cybercars are free to make its desired route choices
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Problem description
Set up
• dedicated roads network
• cybercars are free to make its desired route choices
• traffic densities in all roads decide velocities
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Problem description
Set up
• dedicated roads network
• cybercars are free to make its desired route choices
• traffic densities in all roads decide velocities
• energy consumption depend on velocities and variation of
velocities
Renshi Luo (DCSC, TUD) 14 / 21
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Problem description
Renshi Luo (DCSC, TUD) 15 / 21
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Problem description
Modeling
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Problem description
Modeling
• discrete-time
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Problem description
Modeling
• discrete-time
• discrete-event
Renshi Luo (DCSC, TUD) 15 / 21
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Problem description
Modeling
• discrete-time
• discrete-event
Objectives
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Problem description
Modeling
• discrete-time
• discrete-event
Objectives
• minimizing total time spent (TTS)
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Problem description
Modeling
• discrete-time
• discrete-event
Objectives
• minimizing total time spent (TTS)
• minimizing total energy consumption (TEC)
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Model predictive control (MPC)
*figure from Ph.D thesis of L.D. Baskar
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Centralized MPC
*figure from Journal paper of J.M. Maestre
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Distributed MPC
*figure from Journal paper of J.M. Maestre
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Research guide
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Research guide
Modeling
• discrete-time modeling & discrete-event modeling
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Research guide
Modeling
• discrete-time modeling & discrete-event modeling
Centralized control
• desired solution of distributed control
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Research guide
Modeling
• discrete-time modeling & discrete-event modeling
Centralized control
• desired solution of distributed control
Distributed Control
• decomposing the problem
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Research guide
Modeling
• discrete-time modeling & discrete-event modeling
Centralized control
• desired solution of distributed control
Distributed Control
• decomposing the problem
• extending exsiting distributed control methods
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Research guide
Modeling
• discrete-time modeling & discrete-event modeling
Centralized control
• desired solution of distributed control
Distributed Control
• decomposing the problem
• extending exsiting distributed control methods
• developing new distributed control methods
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Review
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Review
• motivation
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Review
• motivation
• specific research problem
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Review
• motivation
• specific research problem
• potential control scheme
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Review
• motivation
• specific research problem
• potential control scheme
• research guide
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