DocumentCode :
3167735
Title :
Distance optimal formation control on graphs with a tight convergence time guarantee
Author :
Jingjin Yu ; Lavalle, Marco
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Illinois at Urbana-Champaign, Urbana, IL, USA
fYear :
2012
fDate :
10-13 Dec. 2012
Firstpage :
4023
Lastpage :
4028
Abstract :
For the task of moving a set of indistinguishable agents on a connected graph with unit edge distance to an arbitrary set of goal vertices, free of collisions, we propose a fast distance optimal control algorithm that guides the agents into the desired formation. Moreover, we show that the algorithm also provides a tight convergence time guarantee (time optimality and distance optimality cannot be simultaneously satisfied). Our generic graph formulation allows the algorithm to be applied to scenarios such as grids with holes (modeling obstacles) in arbitrary dimensions. Simulations, available online1, confirm our theoretical developments.
Keywords :
convergence; graph theory; multi-agent systems; optimal control; connected graph; distance optimal formation control; fast distance optimal control algorithm; generic graph formulation; goal vertices; indistinguishable agents; tight convergence time guarantee; unit edge distance; Convergence; Joining processes; Path planning; Robots; Schedules; Switches; USA Councils;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
Conference_Location :
Maui, HI
ISSN :
0743-1546
Print_ISBN :
978-1-4673-2065-8
Electronic_ISBN :
0743-1546
Type :
conf
DOI :
10.1109/CDC.2012.6426233
Filename :
6426233
Link To Document :
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