Multi-agent Vehicle Communication for Destination Decision

This project consists of two vehicles that want to meet in a desired target. Each vehicle measures the position of the target and exchange this information between them through a network. From the average of both measurements, each vehicle decides the direction that it should go to reach the target. To make the problem more interesting we decided to make the target a moving vehicle which we could set the trajectory and, consequently, both vehicles should be able to follow it, as shown on the Figure 1.


Figure 1. High level description of the system.

This system is considered a cyber-physical system, since it is comprised of physical systems, the dynamics of the vehicles, and cyber systems, the finite state machines responsible for computing the direction based on the acquired target measurements. This system has to take in consideration the sampling rate of each vehicle and the random transmission delay generated by the network.

Project Documentation

Matlab Implementation (Change the extension to .zip)



Synchronization of [power-conversion related] oscillators over the network: hybrid system approach

Renewable energy sources are undergoing intense study these days. According to Renewables 2015 Global Status Report, “by 2013, the most year for which data are available, renewable energy provided an estimated 19.1% of global final energy consumption.” This trend is constantly increasing every year. The most common renewable energy sources are photovoltaic panels, fuel cells, and speed wind turbines. To increase the efficiency and reliability of the supplied power, all of the sources might be interconnected to supply power to the single load. Moreover, the sources might be distributed. This, in turn, raises necessity in communication channels between the power generators to increase the efficiency of the overall system.

Figure 1 shows a simple example of interconnection of many DC/AC inverters. This kind of interconnection is typical in distributed power generation with photovoltaic panels. The panels generate DC voltage, and it must be converted to AC. All of the inverters are hooked to a single load to increase overall power. However, a significant amount of efficiency loss is introduced if generated AC voltages by each of the inverters are off-phase.

Figure 1 – interconnection of many DC/AC inverters

This project addresses an issue of unsynchronized power generators and proposes a solution. The interconnection was modeled as a cyber-physical system and was described by the difference and differential equations. The correctness of the proposed solution is based on the MATLAB simulation of the model. The simulation results are available in Results section.