A Decentralized Control Framework for Energy-Optimal Goal Assignment and Trajectory Generation

DOI10.1109/CDC40024.2019.9030079arXiv1809.08648MaRDI QIDQ6307142FDOQ6307142

Authors: Logan Beaver, Andreas A. Malikopoulos 

Publication date: 23 September 2018

Abstract: This paper proposes a decentralized approach for solving the problem of moving a swarm of agents into a desired formation. We propose a decentralized assignment algorithm which prescribes goals to each agent using only local information. The assignment results are then used to generate energy-optimal trajectories for each agent which have guaranteed collision avoidance through safety constraints. We present the conditions for optimality and discuss the robustness of the solution. The efficacy of the proposed approach is validated through a numerical case study to characterize the framework's performance on a set of dynamic goals.

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