Viability-based Control in IoT Multi-Agent Systems: Optimal Strategy and the Impact of Communications

This study explores the challenges and solutions for managing dynamically changing objects within the Internet of Things (IoT) environment. Given the evolving nature of these configurations, maintaining effective cooperation and safety is a complex task. Our approach utilizes viability theory to develop an optimal control strategy that ensures the agents remain within viable boundaries while respecting and adhering to the system's constraints. An admissible control that minimizes the system cost is obtained through Hamiltonian formulation and solving it via the Minimum Principle. The numerical results demonstrate that the proposed optimal control strategy, combined with effective communication, promotes a cooperative environment where agents can navigate the system reliably.