Title:
Leader-Based Multi-Agent Coordination Through Hybrid Optimal Control
Leader-Based Multi-Agent Coordination Through Hybrid Optimal Control
Author(s)
Björkenstam, Staffan
Ji, Meng
Egerstedt, Magnus B.
Martin, Clyde F.
Ji, Meng
Egerstedt, Magnus B.
Martin, Clyde F.
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Abstract
The problem of optimally transferring a linear
dynamical system between affine varieties arises in a number
of applications such as path planning and robot coordination.
In this paper, this problem, as well as generalizations to
switched linear systems, is solved in the context of minimum
energy control. In particular, we present a novel algorithm for
obtaining the globally optimal solution through a combination
of Hilbert space methods and dynamic programming. As a
driving application, the problem of leader-based multi-agent
coordination is considered, and we show how our proposed
algorithm can be used for optimal coordination purposes.
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Date Issued
2006-09
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Text
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Proceedings