# US 10,764,137 B2 · Signal-flow architecture for cooperative control and resource allocation

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- Number: US 10,764,137 B2
- Document ID: US10764137B2
- Status: Granted
- Kind: B2
- Application number: 15/976,267
- Filed: 2018-05-10
- Published: 2018-10-18
- Granted: 2020-09-01
- Earliest claimed: 2013-11-15
- Assignees: Massachusetts Institute of Technology
- Applicants: Massachusetts Institute of Technology
- Inventors: Thomas A. Baran; Alan V. Oppenheim
- Web page: https://patentgrep.com/patent/US10764137B2

## CPC

- H04L 41/0826: for reduction of network costs (H04L41/0833 takes precedence)
- G06F 9/5083: {Techniques for rebalancing the load in a distributed system}
- H04L 43/0876: Network utilisation, e.g. volume of load or congestion level
- H04L 47/72: using reservation actions during connection setup
- H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M)
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)

## Abstract

Methods and supporting systems for allocating a resource among multiple agents are disclosed. Multipoint-to-multipoint communication is established among the agents, with each agent using an amount of a resource. A first agent receives information associated with the resource usage of a second agent and determines the difference in resource usage between itself and the second agent. Based in part on the resource usage difference, the first agent is controlled to modify its use of the resource.

## Claims

### Claim 1

A method of allocating physical space among a plurality of agents, the method comprising:
establishing multipoint-to-multipoint communication among a plurality of agents, each agent comprising a processor and a memory storing instructions that, when executed by the processor, configure the agent to control use of physical space by the agent;
receiving, at a first agent in the plurality of agents, from a second agent in the plurality of agents, information associated with use of the physical space by the second agent, wherein the information associated with use of the physical space by the second agent comprises an output of a first control function that uses as input a difference in physical location between the second agent and the first agent;
measuring, by the first agent, a difference in physical location between the first agent and the second agent;
receiving, at the first agent, from a third agent in the plurality of agents, information associated with use of the physical space by the third agent, wherein the information associated with use of the physical space by the third agent comprises an output of a second control function that uses as input a difference in physical location between the third agent and the first agent;
measuring, by the first agent, a difference in physical location between the first agent and the third agent;
calculating a first output of a third control function using the difference in physical location between the first agent and the second agent as input to the third control function;
calculating a second output of the third control function using the difference in physical location between the first agent and the third agent as input to the third control function;
calculating a control input signal by subtracting (i) a sum of the output of the first control function and the output of the second control function from (ii) a sum of the first output of the third control function and the second output of the third control function; and
controlling the first agent to modify its use of the physical space based on the control input signal.

### Claim 2 (depends on 1)

The method of claim 1, wherein the agents comprise aircraft, terrestrial vehicles, watercraft, underwater vehicles, or robotic devices.

### Claim 3 (depends on 1)

The method of claim 1, wherein the agents are partially autonomous or fully autonomous.

### Claim 4 (depends on 1)

The method of claim 1, wherein each agent comprises a mechanism for controlling a position of the agent within the physical space.

### Claim 5 (depends on 1)

The method of claim 1, wherein each agent comprises one or more sensors for capturing data relating to use of the physical space by the agent.

### Claim 6 (depends on 1)

The method of claim 1, wherein each agent comprises a transmitter/receiver for communicating with other agents.

### Claim 7 (depends on 1)

The method of claim 1, wherein the multipoint-to-multipoint communication comprises wireless connections.

### Claim 8 (depends on 1)

The method of claim 1, wherein the plurality of agents do not communicate globally with each other.

### Claim 9 (depends on 1)

The method of claim 1, further comprising measuring, by each agent, a difference in physical location between the agent and each other agent with which the agent communicates.

### Claim 10 (depends on 1)

The method of claim 1, furthering comprising determining, by each agent, an overall use of the physical space by the plurality of agents.

### Claim 11 (depends on 1)

The method of claim 1, wherein use of the physical space by one of the agents is subject to one or more constraints.

### Claim 12 (depends on 1)

The method of claim 1, wherein controlling the first agent to modify its use of the physical space comprises controlling the first agent, if use of the physical space by the first agent is limited to a constraint, to use an amount of the physical space equal to the constraint.

### Claim 13 (depends on 1)

The method of claim 1, wherein controlling the first agent to modify its use of the physical space comprises controlling the first agent, if use of the physical space by the first agent is not limited to a constraint, to increase or decrease the amount of the physical space used by the first agent.

### Claim 14 (depends on 1)

The method of claim 1, further comprising communicating, by the first agent to the second agent, information associated with use of the physical space by the first agent.

### Claim 15 (depends on 14)

The method of claim 14, further comprising controlling the second agent to modify its use of the physical space based at least in part on a difference in physical location between the first agent and the second agent.

### Claim 16 (depends on 1)

The method of claim 1, wherein use of the physical space by the agents locally minimizes a cost function.

### Claim 17

A system for allocating physical space among a plurality of agents, the system comprising:
a plurality of agents in multipoint-to-multipoint communication, each agent comprising (i) a transmitter/receiver for communicating with other agents and (ii) a processor and a memory storing instructions that, when executed by the processor, configure the agent to control use of physical space by the agent, wherein a first agent in the plurality of agents is configured to:
receive, from a second agent in the plurality of agents, information associated with use of the physical space by the second agent, wherein the information associated with use of the physical space by the second agent comprises an output of a first control function that uses as input a difference in physical location between the second agent and the first agent;
measure a difference in physical location between the first agent and the second agent;
receive, from a third agent in the plurality of agents, information associated with use of the physical space by the third agent, wherein the information associated with use of the physical space by the third agent comprises an output of a second control function that uses as input a difference in physical location between the third agent and the first agent;
measure, by the first agent, a difference in physical location between the first agent and the third agent;
calculate a first output of a third control function using the difference in physical location between the first agent and the second agent as input to the third control function;
calculate a second output of the third control function using the difference in physical location between the first agent and the third agent as input to the third control function;
calculate a control input signal by subtracting (i) a sum of the output of the first control function and the output of the second control function from (ii) a sum of the first output of the third control function and the second output of the third control function; and
control the first agent to modify its use of the physical space based on the control input signal.

### Claim 18 (depends on 17)

The system of claim 17, wherein the agents comprise aircraft, terrestrial vehicles, watercraft, underwater vehicles, or robotic devices.

### Claim 19 (depends on 17)

The system of claim 17, wherein each agent comprises a mechanism for controlling a position of the agent within the physical space.

### Claim 20 (depends on 17)

The system of claim 17, wherein each agent comprises one or more sensors for capturing data relating to use of the physical space by the agent.

### Claim 21 (depends on 17)

The system of claim 17, wherein the plurality of agents do not communicate globally with each other.