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Optimal Control of Left-Invariant Multi-Agent Systems with Asymmetric Formation Constraints
KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik. KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre.ORCID-id: 0000-0001-7309-8086
2018 (engelsk)Inngår i: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, s. 1728-1733, artikkel-id 8550238Konferansepaper, Publicerat paper (Fagfellevurdert)
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.

sted, utgiver, år, opplag, sider
Institute of Electrical and Electronics Engineers (IEEE), 2018. s. 1728-1733, artikkel-id 8550238
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-241506DOI: 10.23919/ECC.2018.8550238Scopus ID: 2-s2.0-85059809247ISBN: 9783952426982 (tryckt)OAI: oai:DiVA.org:kth-241506DiVA, id: diva2:1282288
Konferanse
16th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 2018
Forskningsfinansiär
Swedish Research CouncilKnut and Alice Wallenberg Foundation
Merknad

QC 20190124

Tilgjengelig fra: 2019-01-24 Laget: 2019-01-24 Sist oppdatert: 2019-01-24bibliografisk kontrollert

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