Distributed Optimal Control Framework based on Coordinate Descent Optimization for Multi-Agent Robots

2021 ◽  
Author(s):  
Muhammad Ali Murtaza ◽  
Bruce Wingo ◽  
Dan Kilanga ◽  
Seth Hutchinson
Keyword(s):  
Optimal Control ◽  
Coordinate Descent ◽  
Distributed Optimal Control ◽  
Control Framework ◽  
Multi Agent

scholarly journals Distributed optimal control for multi-agent trajectory optimization

Automatica ◽  
2014 ◽  
Vol 50 (1) ◽  
pp. 149-154 ◽  
Author(s):  
Greg Foderaro ◽  
Silvia Ferrari ◽  
Thomas A. Wettergren
Keyword(s):  
Optimal Control ◽  
Trajectory Optimization ◽  
Distributed Optimal Control ◽  
Multi Agent

Flocking of Multi-Agent Systems Using a Unified Optimal Control Approach

2013 ◽  
Vol 135 (6) ◽  
Author(s):  
Jianan Wang ◽  
Ming Xin
Keyword(s):  
Optimal Control ◽  
Cost Function ◽  
Distributed Feedback ◽  
Control Law ◽  
Multi Agent Systems ◽  
Optimal Control Strategy ◽  
Control Approach ◽  
Control Framework ◽  
Multi Agent ◽  
Optimal Control Approach

In this paper, the multi-agent flocking problem is investigated in a unified optimal control framework. The flocking characteristics, such as velocity alignment, navigation, cohesion, and collision/obstacle avoidance, are accomplished by formulating them into respective cost function terms. The resultant nonquadratic cost function poses a challenging optimal control problem. A novel inverse optimal control strategy is adopted to derive an analytical optimal control law. The optimality and asymptotic stability are proved and the distributed feedback control law only requires local information to achieve the flocking behaviors. Various simulation scenarios are used to demonstrate the effectiveness of the optimal flocking algorithm.

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