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Optimal Control of Left-Invariant Multi-Agent Systems with Asymmetric Formation Constraints
KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2018 (English)In: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 1728-1733, article id 8550238Conference paper, Published paper (Refereed)
Abstract [en]

In this work we study an optimal control problem for a multi-agent system modeled by an undirected formation graph with nodes describing the kinematics of each agent, given by a left invariant control system on a Lie group. The agents should avoid collision between them in the workspace. Such a task is done by introducing some potential functions into the cost functional for the optimal control problem, corresponding to fictitious forces, induced by the formation constraint among agents, that break the symmetry of the individual agents and the cost functions, and rendering the optimal control problem partially invariant by a Lie group of symmetries. Reduced necessary conditions for the existence of normal extremals are obtained using techniques of variational calculus on manifolds. As an application we study an optimal control problem for multiple unicycles.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018. p. 1728-1733, article id 8550238
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-241506DOI: 10.23919/ECC.2018.8550238Scopus ID: 2-s2.0-85059809247ISBN: 9783952426982 OAI: oai:DiVA.org:kth-241506DiVA, id: diva2:1282288
Conference
16th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 2018
Funder
Swedish Research CouncilKnut and Alice Wallenberg Foundation
Note

QC 20190124

Available from: 2019-01-24 Created: 2019-01-24 Last updated: 2019-01-24Bibliographically approved

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Colombo, LeonardoDimarogonas, Dimos V.

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
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  • modern-language-association-8th-edition
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  • de-DE
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  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
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Output format
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