DocumentCode
2268010
Title
Cooperative control of multi-vehicle systems using cost graphs and optimization
Author
Saber, Reza Olfati ; Dunbar, William B. ; Murray, Richard M.
Author_Institution
Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA
Volume
3
fYear
2003
fDate
4-6 June 2003
Firstpage
2217
Abstract
We introduce a class of triangulated graphs for algebraic representation of formations that allows one to specify a mission cost for a group of vehicles. This representation plus the navigational information allows one to formally specify and solve tracking problems for groups of vehicles in formations using an optimization-based approach. The approach is illustrated using a collection of six underactuated vehicles that track a desired trajectory in formation.
Keywords
collision avoidance; cooperative systems; graph theory; mobile robots; navigation; optimal control; optimisation; position control; tracking; vehicles; algebraic representation; cooperative control; cost graphs; mission cost; mobile robots; multiple vehicle systems; navigation; optimization; trajectory tracking; triangulated graphs; underactuated vehicles; Control systems; Cost function; Decision making; Navigation; Optimal control; Satellites; Telescopes; Trajectory; Unmanned aerial vehicles; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2003. Proceedings of the 2003
ISSN
0743-1619
Print_ISBN
0-7803-7896-2
Type
conf
DOI
10.1109/ACC.2003.1243403
Filename
1243403
Link To Document