Optimization and coordination of multi-agent systems using principled negotiation

John P. Wangermann, Robert F. Stengel

Research output: Contribution to conferencePaperpeer-review

7 Scopus citations


Principled negotiation coordinates the actions of agents with different interests, allowing distributed optimization. In principled negotiation, agents search for and propose options for mutual gain. If the other agents agree to the proposal, it is implemented. Under certain conditions, an agent can search for options for individual gain without impacting other agents. In these cases, the agent can negotiate with a coordinator, rather than obtain agreement from all other agents. The tenets of principled negotiation are outlined and stated mathematically. Two problems representing air traffic operations are formulated to test the performance of principled negotiation. The first, based on keeping separation between aircraft, has no coupling between the agent actions if certain requirements are met. Principled negotiation allows the agents to achieve a solution as good as that achieved by a centralized controller with perfect knowledge. The second problem, based on negotiating arrival slots, is highly coupled, constraining each agent’s available set of actions. Principled negotiation allows agents to search options that would not be available otherwise, improving the utility function of all agents. Principled negotiation can be quickly introduced into air traffic operations.

Original languageEnglish (US)
Number of pages20
StatePublished - 1996
EventGuidance, Navigation, and Control Conference and Exhibit, 1996 - San Diego, United States
Duration: Jul 29 1996Jul 31 1996


OtherGuidance, Navigation, and Control Conference and Exhibit, 1996
Country/TerritoryUnited States
CitySan Diego

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Aerospace Engineering


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