Threshold Decision-Making Dynamics Adaptive to Physical Constraints and Changing Environment

Giovanna Amorim, María Santos, Shinkyu Park, Alessio Franci, Naomi Ehrich Leonard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We propose a threshold decision-making frame-work for controlling the physical dynamics of an agent switching between two spatial tasks. Our framework couples a nonlinear opinion dynamics model that represents the evolution of an agent's preference for a particular task with the physical dynamics of the agent. We prove the bifurcation that governs the behavior of the coupled dynamics. We show by means of the bifurcation behavior how the coupled dynamics are adaptive to the physical constraints of the agent. We also show how the bifurcation can be modulated to allow the agent to switch tasks based on thresholds adaptive to environmental conditions. We illustrate the benefits of the approach through a multi-robot task allocation application for trash collection.

Original languageEnglish (US)
Title of host publication2024 European Control Conference, ECC 2024
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1908-1913
Number of pages6
ISBN (Electronic)9783907144107
DOIs
StatePublished - 2024
Event2024 European Control Conference, ECC 2024 - Stockholm, Sweden
Duration: Jun 25 2024Jun 28 2024

Publication series

Name2024 European Control Conference, ECC 2024

Conference

Conference2024 European Control Conference, ECC 2024
Country/TerritorySweden
CityStockholm
Period6/25/246/28/24

All Science Journal Classification (ASJC) codes

  • Control and Optimization
  • Modeling and Simulation

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