Optimal cooperation in a modified leader-follower team of agents with partial availability of leader command
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
The objective of this work is to design a controller for a team of agents to accomplish a cohesive motion with consensus on the agreed upon output. A modified leader-follower structure for the team is considered. The desired output (command) is available to only the leader and followers are communicating with the leader and among themselves in a predefined topology. A semi-decentralized optimal control strategy is designed based on minimization of individual cost functions over a finite horizon using local information. Decentralization is achieved through incorporating interaction terms in the team members model. Minimization of the proposed cost function results in a modified consensus algorithm for a leader-follower structure when the leader command is available partially. Introduction of a corrective feedback from followers to the leader has potential advantage of improving robustness of the team to individuals faults. Finally, simulation results are presented to show effectiveness of our proposed method in achieving predefined requirements.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it