Learning Automata (LA) were recently shown to be valuable tools for designing Multi-Agent Reinforcement Learning algorithms. One of the principal contributions of LA theory is that a set of decentralized, independent learning automata is able to control a finite Markov Chain with unknown transition probabilities and rewards. We extend this result to the framework of Multi-Agent MDP’s, a straigh...

Existing pursuer-evader (PE) game algorithms do not provide good real-time solutions for situations with the following complexities: (1) multi-pursuer multi-evader, (2) multiple evaders with superior control resources such as higher speeds, and (3) jamming confrontation between pursuers and evaders. This paper introduces a real-time decentralized approach, in which decentralization strategy red...

– Natural multi-agent systems like ant colonies prove that decentralized systems based on simple constituent parts can exhibit advanced global behavior that has important advantages over explicit central control in others systems. Unfortunately, it is difficult to design a collection of individual components and their local interaction in a way that will give rise to a successful global behavio...

The impedance control of dual-arm 7-DOF cooperative manipulators is considered in this paper. Global compliant behavior for the whole system is achieved using impedance at three levels, i.e. object, end-effector and body level. A centralized impedance control strategy is provided to confer a compliant behavior to the object, while an active decentralized impedance with force tracking control is...

The design of optimal disturbance accommodation and servomechanism controllers with limited plant model information is considered in this paper. Their closed-loop performance are compared using a performance metric called competitive ratio which is the worst-case ratio of the cost of a given control design strategy to the cost of the optimal control design with full model information. It was re...

Variation of frequency and voltage by load changes in a microgrid is a challenge in droop control method. Centralized restoration frequency or voltage in a microgrid requires communication link and therefore affects the advantage of decentralized droop control such as reliability, simplicity and inexpensiveness. This paper proposes a decentralized method that restores the frequency of a microgr...