# Predictive Triggering for Distributed Control of Resource Constrained Multi-agent Systems

## TL;DR

This paper introduces a predictive triggering framework for distributed control in resource-limited multi-agent systems, optimizing communication and control performance through future demand prediction and probabilistic prioritization.

## Contribution

It presents a novel predictive triggering approach that anticipates communication needs, enhancing resource allocation and control accuracy in multi-agent systems.

## Key findings

- Reduces network utilization compared to existing event-triggered methods.
- Improves control error in cooperative systems.
- Effective in both simulations and real experiments.

## Abstract

A predictive triggering (PT) framework for the distributed control of resource constrained multi-agent systems is proposed. By predicting future communication demands and deriving a probabilistic priority measure, the PT framework is able to allocate limited communication resources in advance. The framework is evaluated through simulations of a cooperative adaptive cruise control system and experiments on multi-agent cart-pole systems. The results of these studies show its effectiveness over other event-triggered designs at reducing network utilization, while also improving the control error of the system.