Negotiation Between Dynamical Systems with Connectivity Constraints

Multi-agent systems (MAS) have been an important area of study over the past few years. This research will propose a real time sub-optimal solution for an agreement problem in multi-agent systems. Each agent is modeled with integrator dynamics and has an associated objective function it wishes to minimizes. Each agent has a preference which it wishes to reach. The agents must coordinate to reach an agreement on their state in finite time. Each agent is able to communicate with other neighbors according to the connectivity structure. Another constraint considered in this research is to ensure that each agent will maintain the necessary communication range with its neighbors, meaning that there will be no damage to the connectivity structure that may be caused by a larger distance between the agents than the communication radius defined. The main contribution of this work is to find a distributed solution to this problem in finite-time. This work will propose the distributed algorithm at finite time show and demonstrate a 2-agent case and also will show examples and simulation results .